diff --git a/Split_aloha_scoop_coffee_beans/.gitattributes b/Split_aloha_scoop_coffee_beans/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/Split_aloha_scoop_coffee_beans/README.md b/Split_aloha_scoop_coffee_beans/README.md new file mode 100644 index 0000000000000000000000000000000000000000..034a1d284e1d923df52fae69a7db317fae56cc04 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/README.md @@ -0,0 +1,335 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +frame_range: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# Split_aloha_scoop_coffee_beans + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `agilex_cobot_decoupled_magic` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `office` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `scoop` +- `grasp` +- `pick` +- `place` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 498 | +| **Total Frames** | 408174 | +| **Total Tasks** | 8 | +| **Total Videos** | 1494 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 3.8GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +the right gripper place the grey cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid. +the right gripper place the red cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid. +the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid. +the left gripper place the red cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid. +the left gripper place the red cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid. +the left gripper place the grey cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid. +the left gripper place the grey cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid. +the right gripper place the grey cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid. + +### Sub-Tasks +This dataset includes 6 distinct subtasks: + +1. **Place the spoon back in its original place** +2. **Move the cup to the center of view** +3. **Pick up the spoon** +4. **Scoop a spoonful of beans into the cup** +5. **abnormal** +6. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:497 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.cam_high_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_right_wrist_rgb**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features +- **gripper_open_scale_state**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_open_scale_action**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_mode_state**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_mode_action**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_activity_state**: int32 + - Dimensions: left_gripper_activity, right_gripper_activity + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "agilex_cobot_decoupled_magic", "total_episodes": 498, "total_frames": 408174, "total_tasks": 8, "total_videos": 1494, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:497"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [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": [26], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "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"]}, "action": {"dtype": "float32", "shape": [26], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "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"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +Split_aloha_scoop_coffee_beans_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/Split_aloha_scoop_coffee_beans/annotations/eef_acc_mag_annotation.jsonl b/Split_aloha_scoop_coffee_beans/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/Split_aloha_scoop_coffee_beans/annotations/eef_direction_annotation.jsonl b/Split_aloha_scoop_coffee_beans/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/Split_aloha_scoop_coffee_beans/annotations/eef_velocity_annotation.jsonl b/Split_aloha_scoop_coffee_beans/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/Split_aloha_scoop_coffee_beans/annotations/gripper_activity_annotation.jsonl b/Split_aloha_scoop_coffee_beans/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/Split_aloha_scoop_coffee_beans/annotations/gripper_mode_annotation.jsonl b/Split_aloha_scoop_coffee_beans/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/Split_aloha_scoop_coffee_beans/annotations/scene_annotations.jsonl b/Split_aloha_scoop_coffee_beans/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4523208d80efe2b4d34aa8316f9499d72947e2bc --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/scene_annotations.jsonl @@ -0,0 +1,500 @@ +{"scene_index": 0, "scene": "Spoon is located at front left. Cup (front right) is positioned diagonally opposite to the other objects. The cup at front left shares the same location as the spoon and coffee beans. Coffee beans are placed alongside the spoon and cup at front left. Another cup is also situated at front left, mirroring the position of the existing cup."} +{"scene_index": 1, "scene": "Cup is at front left, spoon is at right, coffee beans are at front right, another cup is at front right."} +{"scene_index": 2, "scene": "The spoon is located at front left, a cup is at front right, another cup is at front left, coffee beans are at front left, and another cup is at front left."} +{"scene_index": 3, "scene": "Spoon is on the left. Cup is in front-right. Coffee beans are in front-left. Another cup is in front-left."} +{"scene_index": 4, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 5, "scene": "Spoon is located at the front right, cup is positioned at the front left and another cup is at the front right, coffee beans are also placed at the front right."} +{"scene_index": 6, "scene": "Spoon is in front left. Cup is in front right. Another cup is in front left. Coffee beans are in front left."} +{"scene_index": 7, "scene": "At the front right, there is a spoon and coffee beans, along with three cups. The cup at the front left is separate from the others."} +{"scene_index": 8, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 9, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 10, "scene": "Spoon is at front left. Cup (front right) is positioned diagonally opposite to cup (front left). Both cups and coffee beans are located in the front left."} +{"scene_index": 11, "scene": "The spoon is on the left, the cup is in front right, coffee is in front left, and coffee beans are also in front left."} +{"scene_index": 12, "scene": "Cup 1 is at front right. Spoon is at front left. Cup 2 is at front left. Coffee beans are at front left."} +{"scene_index": 13, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 14, "scene": "Cup is front left, spoon and coffee beans are both front right, and another cup is also front right."} +{"scene_index": 15, "scene": "cup is at front right, spoon is at front left, cup is at front left, coffee beans are at front left"} +{"scene_index": 16, "scene": "The spoon is at front left, a cup is at front right, two cups and coffee beans are at front left, and another cup is at left."} +{"scene_index": 17, "scene": "The spoon is at the front right, with three cups also positioned at the front right and one cup at the front left. The coffee beans are next to the spoon in the front right area."} +{"scene_index": 18, "scene": "The spoon is on the left, the cup is in front right, another cup and coffee beans are both in front left."} +{"scene_index": 19, "scene": "The spoon is at front right and the cup (1) is at front left; another cup (2) and a third cup (3) are both at front right."} +{"scene_index": 20, "scene": "The spoon is at the front-right position. The first cup is at the front-left position, and the second cup is at the front-right position. The coffee beans are also at the front-right position."} +{"scene_index": 21, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 22, "scene": "The spoon is at the front right, the cup is at the front left, the coffee beans are also at the front right."} +{"scene_index": 23, "scene": "The spoon is at the front right, alongside the coffee beans. Two cups are also placed in the front right area, while another cup is located at the front left."} +{"scene_index": 24, "scene": "The spoon is at front right, the cups are positioned at front left and three times at front right, and the coffee beans are placed twice at front right."} +{"scene_index": 25, "scene": "The cup is on front left, coffee beans are on front right, another cup is on front right, and spoon is also on front right."} +{"scene_index": 26, "scene": "The spoon is on the left, a cup is in front right, another cup and coffee beans are both in front left with the coffee."} +{"scene_index": 27, "scene": "The spoon is on the right, with two cups placed in front of itβ€”one on the front left and one on the front rightβ€”and the coffee beans are also positioned on the front right."} +{"scene_index": 28, "scene": "The cup is in the front-right position, the spoon is in the front-left position, another cup is also in the front-left position, and the coffee beans are placed in the front-left as well."} +{"scene_index": 29, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 30, "scene": "The spoon is at front right the cup front left is at front left the cup front right is at front right the coffee beans are at front right the cup right is at right"} +{"scene_index": 31, "scene": "The spoon is at front left, the cup is at front right and another cup is also at front left, with coffee beans placed in front left as well."} +{"scene_index": 32, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 33, "scene": "The cup is located at front left, the spoon is located at front right, and the coffee beans are located at front right."} +{"scene_index": 34, "scene": "The cup is in the front right position, the spoon is on the left, another cup and coffee beans are both in the front left position."} +{"scene_index": 35, "scene": "The cup is in the front left, the spoon is on the right, another cup is in the front right along with the coffee beans."} +{"scene_index": 36, "scene": "The cup is at front left, the spoon is on the right, and two sets of coffee beans are both at front right."} +{"scene_index": 37, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 38, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 39, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 40, "scene": "The spoon is located in the front-right position, with the coffee beans also placed nearby at front-right. The two cups are positioned one on the front-left and another on the front-right."} +{"scene_index": 41, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 42, "scene": "Cup is front right, Spoon is left, Coffee Beans are front left, Cup (duplicate) is front left."} +{"scene_index": 43, "scene": "The spoon is in the front left, the first cup is also in the front left, the coffee beans are in the front left, and the second cup is in the front left."} +{"scene_index": 44, "scene": "The cup is at front right, cup at front left, spoon at front left, coffee beans at front left (two instances), and cup at front left."} +{"scene_index": 45, "scene": "The spoon is located at front left, a cup is at front right, another cup is at front left, coffee beans are at front left, and another cup is at front left."} +{"scene_index": 46, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 47, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 48, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 49, "scene": "Cup 1 is at front right. Spoon is at front left. Cup 2 is at front left. Coffee beans are at front left."} +{"scene_index": 50, "scene": "Spoon is on the right, cup is in front left, another cup and coffee beans are both in front right, coffee is also in front right."} +{"scene_index": 51, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 52, "scene": "Cup (front right), coffee beans (front left), cup (front left), spoon (left)."} +{"scene_index": 53, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 54, "scene": "The cup is in the front right, while the spoon, cup, coffee beans, and coffee are all in the front left."} +{"scene_index": 55, "scene": "The spoon is on the right, with two cups placed at front left and front right positions respectively, and coffee beans located at the front right."} +{"scene_index": 56, "scene": "The cup is at front right, spoon at left, coffee beans at front left, and another cup is also at front left."} +{"scene_index": 57, "scene": "The spoon is at front left, the cup is at front right, and there are two cups at front left with coffee beans."} +{"scene_index": 58, "scene": "The cup is in the front-right position The spoon is on the left There is a cup in the front-left position Coffee beans are also located in the front-left position"} +{"scene_index": 59, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 60, "scene": "Spoon is in front right; Cup (1) is in front left; Coffee beans are in front right; Cup (2) is in front right; Cup (3) is in front right."} +{"scene_index": 61, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 62, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 63, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans also at front left with two additional cups placed at front left."} +{"scene_index": 64, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left, coffee beans are at front left, and coffee is at front left."} +{"scene_index": 65, "scene": "Spoon is front right, coffee beans are front right, cup is front right, and cup is front left."} +{"scene_index": 66, "scene": "The two cups are positioned at front right and front left, while the spoon and coffee beans are both located at front left."} +{"scene_index": 67, "scene": "cup is in front left, spoon is in right, coffee beans are in front right, and cup is in front right."} +{"scene_index": 68, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 69, "scene": "Spoon is located at the front left Cup first occurrence is at the front right Coffee beans are positioned at the front left Cup second occurrence shares the same front left position as the spoon and coffee beans."} +{"scene_index": 70, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and there is another cup in the front left."} +{"scene_index": 71, "scene": "Spoon is located at the front right Cup is positioned at the front left and another cup is at the front right Coffee beans are also placed at the front right."} +{"scene_index": 72, "scene": "Spoon is located at front left, cup is positioned front right, coffee beans are placed front left."} +{"scene_index": 73, "scene": "Spoon is at front right cup is at front left another cup is at front right coffee beans are at front right another cup is at right"} +{"scene_index": 74, "scene": "The cup is located at front right The spoon is situated at front left The coffee beans are positioned at front left Another cup is placed at front left"} +{"scene_index": 75, "scene": "The spoon is located at the front right, the cup is at the front left, the coffee beans are also at the front right, and another cup is placed at the front right."} +{"scene_index": 76, "scene": "Spoon is in front right cup 1 is in front left and coffee beans are in front right cup 2 is in front right and cup 3 is in front right."} +{"scene_index": 77, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 78, "scene": "The spoon is on the left, with two cups positioned at front left and front right. The coffee beans are located in the front left area, shared between both cups placed there."} +{"scene_index": 79, "scene": "The cup is at front left, the spoon is at front right. A cup is also at front right along with the coffee beans."} +{"scene_index": 80, "scene": "The spoon is on the right, the cup (front left) contains coffee beans, and another cup is located at front right."} +{"scene_index": 81, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 82, "scene": "The cup is at front right, the spoon and coffee beans are both at front left, and another cup is also at front left."} +{"scene_index": 83, "scene": "The spoon is at the front right, with a cup also in the front right; another cup is at front left; coffee beans are in the front right alongside them; and there s a cup at the right."} +{"scene_index": 84, "scene": "The cup is located in front right, the spoon is located in front left, the cup is located in front left, and the coffee beans are located in front left."} +{"scene_index": 85, "scene": "The spoon is on the right, the cup is in front-left, another cup and two coffee bean containers are both in front-right."} +{"scene_index": 86, "scene": "The spoon is at the front right, the cup is at the front left, the coffee beans are also at the front right."} +{"scene_index": 87, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 88, "scene": "Spoon is at front left. Cup is at front right. Another cup is at front left. Coffee beans are at front left. A cup is at left."} +{"scene_index": 89, "scene": "Spoon is at front left, The first cup is at front right, The second cup is at front left, Coffee beans are at front left."} +{"scene_index": 90, "scene": "The spoon is at front right, the cup is at front left, another cup is also at front right, and coffee beans are also located at front right."} +{"scene_index": 91, "scene": "The spoon is at front left, the first cup is at front right, the coffee beans are at front left, and the second cup is also at front left."} +{"scene_index": 92, "scene": "The spoon is at front left, the cup is at front right and front left, and the coffee beans are at front left."} +{"scene_index": 93, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 94, "scene": "The spoon is at the front right, the cup is at the front left, and there are coffee beans also at the front right."} +{"scene_index": 95, "scene": "The spoon is at front right, the cup is at front left, and there are coffee beans also at front right."} +{"scene_index": 96, "scene": "The spoon is on the right side, the cup is in front-left position, another cup is in front-right position, and coffee beans are also in front-right position."} +{"scene_index": 97, "scene": "Spoon is at front left. Cup (front right) is positioned diagonally opposite to cup (front left). Both cups and coffee beans are located in the front left."} +{"scene_index": 98, "scene": "In front of the scene on the right is a cup; in front on the left are two cups, a spoon, and coffee beans."} +{"scene_index": 99, "scene": "The spoon is at front right, the first cup is at front left, the coffee beans are at front right, and there are two additional cups at front right."} +{"scene_index": 100, "scene": "The spoon is on the right, with two cups placed in front of itβ€”one on the front left and one on the front rightβ€”and the coffee beans are also positioned on the front right."} +{"scene_index": 101, "scene": "The spoon is at the front left, the first cup is also at the front left, the second cup is at the front right, and both the coffee beans and the coffee are at the front left."} +{"scene_index": 102, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left, and the coffee beans are also at front left."} +{"scene_index": 103, "scene": "In the front row from left to right: spoon is on the front left, coffee beans are also on the front left. There s a cup on the front left and another cup on the front right."} +{"scene_index": 104, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 105, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 106, "scene": "The spoon is located at the front right. The cup on the front right holds coffee beans."} +{"scene_index": 107, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 108, "scene": "The spoon is at front left, cup is at front right, there are two additional cups and coffee beans all at front left."} +{"scene_index": 109, "scene": "The cup is at front right. The spoon is at left. The cup is at front left. The coffee beans are at front left. The cup is at left."} +{"scene_index": 110, "scene": "The spoon is on the right, with two cups located at front left and front right. Additionally, there are coffee beans positioned at front right."} +{"scene_index": 111, "scene": "The spoon is at the front left, near the cup on the front left and the coffee beans also on the front left; there s another cup on the front left and a cup on the front right."} +{"scene_index": 112, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 113, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 114, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 115, "scene": "The spoon is on the right side. The cups are positioned at the front left and front right. Both coffee bean containers are also placed at the front right."} +{"scene_index": 116, "scene": "Spoon is at front left. Cup (front right) is positioned diagonally opposite to cup (front left). Both cups and coffee beans are located in the front left."} +{"scene_index": 117, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 118, "scene": "The spoon is at front left, the cup is at front right and front left, and the coffee beans are at front left."} +{"scene_index": 119, "scene": "The spoon is located in the front-right position, with the coffee beans also placed nearby at front-right. The two cups are positioned one on the front-left and another on the front-right."} +{"scene_index": 120, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 121, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 122, "scene": "Spoon is at front left. Cup is at front right and also appears three times at front left. Coffee beans are present twice at front left."} +{"scene_index": 123, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left along with the coffee beans also in front left."} +{"scene_index": 124, "scene": "cup front right, spoon front left, cup front left, coffee beans front left, cup front left"} +{"scene_index": 125, "scene": "Spoon is located at the front left. Cup (first occurrence) is at the front right. Coffee beans are positioned at the front left. Cup (second occurrence) shares the same front left position as the spoon and coffee beans."} +{"scene_index": 126, "scene": "Spoon is located at front left Cup (front right) and another cup (front left) are positioned on either side Coffee beans are placed in the front left area"} +{"scene_index": 127, "scene": "Spoon is on the left Two cups are placed in front of the scene one is on the front right and the other is on the front left Additionally coffee beans are located on the front left."} +{"scene_index": 128, "scene": "The spoon is on the right, the cup at front left contains coffee beans, and another cup is at front right."} +{"scene_index": 129, "scene": "cup front right cup front left coffee beans front left spoon front left and coffee front left"} +{"scene_index": 130, "scene": "The spoon is located at front left, a cup is at front right, another cup is at front left, coffee beans are at front left, and another cup is at front left."} +{"scene_index": 131, "scene": "The spoon is on the left, there are cups in front right and front left, coffee beans are also in front left, and another cup is on the left."} +{"scene_index": 132, "scene": "Spoon is on the right, coffee beans are in front-right, a cup is in front-left, another cup is in front-right, and a third cup is on the right."} +{"scene_index": 133, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 134, "scene": "The spoon is at front left, one cup is at front right and six objects (five cups and coffee beans) are all at front left."} +{"scene_index": 135, "scene": "Cup at front right; spoon and coffee beans at front left; two additional cups also at front left."} +{"scene_index": 136, "scene": "The cup is in front left, the spoon is on the right, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 137, "scene": "Spoon is in front left. Cup is in front right. Another cup is in front left. Coffee beans are in front left."} +{"scene_index": 138, "scene": "Spoon is at front left Cup first mentioned is at front right Coffee beans are at front left Cup second mentioned is also at front left"} +{"scene_index": 139, "scene": "The cup is in the front left, the spoon is in the front right, another cup is also in the front right, and the coffee beans are next to them in the front right."} +{"scene_index": 140, "scene": "The spoon is at the front right, near the cup at front right. The cup at front left is also present. Another cup is positioned to the right. Lastly, coffee beans are located at the front right."} +{"scene_index": 141, "scene": "Spoon is located at front left Cup (front right) is positioned diagonally opposite to the other objects The cup at front left shares the same location as the spoon and coffee beans Coffee beans are placed alongside the spoon and cup at front left Another cup is also situated at front left mirroring the position of the existing cup"} +{"scene_index": 142, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 143, "scene": "Spoon is on the right cup is in front left another cup is in front right coffee beans are also in front right and the last cup is on the right."} +{"scene_index": 144, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 145, "scene": "Spoon is at front left, the first cup is at front right, the second cup is at front left, coffee beans are at front left."} +{"scene_index": 146, "scene": "Spoon is located at front left, cup (front right) and another cup (front left) are positioned on either side, coffee beans are placed in the front left area."} +{"scene_index": 147, "scene": "Spoon is on the left., Cup (front right) is in front right., Coffee beans are on the front left., Cup (front left) is on the front left., Cup (left) is on the left."} +{"scene_index": 148, "scene": "Spoon is at front left Both cups (front right and front left) are positioned diagonally opposite to each other Both cups and coffee beans are located in the front left"} +{"scene_index": 149, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 150, "scene": "The cup is in front right, while the spoon and coffee beans are both in front left. There s another cup also in front left."} +{"scene_index": 151, "scene": "The spoon is at front left, the cup is at front right and front left, and the coffee beans are at front left."} +{"scene_index": 152, "scene": "The spoon is on the left, the cups are in the front right and front left, and the coffee beans are also in the front left."} +{"scene_index": 153, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 154, "scene": "Spoon is on the left. Cup is in front right. Cup is in front left. Coffee beans are in front left. Cup is on the left."} +{"scene_index": 155, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 156, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, another cup is also in front right, and a third cup is on the right."} +{"scene_index": 157, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 158, "scene": "Spoon is located at front left. The first cup is positioned at front right. The second cup is at front left. Coffee beans are placed at front left."} +{"scene_index": 159, "scene": "The spoon is at front left, the cup (1) is at front right, the coffee beans are at front left, another cup (2) is at front left, and a third cup is at left."} +{"scene_index": 160, "scene": "The spoon is at front right, the cup is at front right (another cup), the coffee beans are also at front right, and there s a cup at right."} +{"scene_index": 161, "scene": "The spoon is located in the front-right position, with the coffee beans also placed nearby at front-right. The two cups are positioned one on the front-left and another on the front-right."} +{"scene_index": 162, "scene": "The spoon is at front left, the first cup is at front right, the coffee beans are at front left, and the second cup is also at front left."} +{"scene_index": 163, "scene": "Spoon is at front right, cup is at front left, another cup is at front right, coffee beans are at front right, and a cup is at right."} +{"scene_index": 164, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 165, "scene": "The spoon is on the left, there s a cup in front right, coffee beans in front left, another cup in front left, and a cup on the left."} +{"scene_index": 166, "scene": "The spoon is in front left, the first cup is front left, the second cup is front right, and the coffee beans are also in front left."} +{"scene_index": 167, "scene": "The spoon is on the left, the cup is in front right, the coffee beans are in front left, and another cup is also in front left."} +{"scene_index": 168, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 169, "scene": "The spoon is in the front right, the cup is in the front left and three cups are in the front right, along with the coffee beans also in the front right."} +{"scene_index": 170, "scene": "The spoon is on the left, the cup is in front right, another cup and coffee beans are both in front left."} +{"scene_index": 171, "scene": "Spoon is located at front right. Cup 1 is located at front left. Coffee beans are located at front right. Cup 2 is located at front right."} +{"scene_index": 172, "scene": "Spoon is located at front right Cup (1) is located at front left Coffee beans are located at front right Cup (2) is located at front right"} +{"scene_index": 173, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left along with the coffee beans also in front left."} +{"scene_index": 174, "scene": "The spoon is at front left, the cup is at front right and front left, and the coffee beans are at front left."} +{"scene_index": 175, "scene": "The spoon is positioned at front left, with the cup (front left), another cup (front left), and coffee beans (front left) all located to its immediate vicinity."} +{"scene_index": 176, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 177, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left with coffee beans also in front left."} +{"scene_index": 178, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 179, "scene": "The spoon is on the left, the cups are in the front right and front left, and the coffee beans are also in the front left."} +{"scene_index": 180, "scene": "The spoon is front-left, cup front-left, another cup front-right, coffee beans front-left, and coffee front-left."} +{"scene_index": 181, "scene": "The spoon is at front left, the cups are at front right and front left, and the coffee beans are at front left."} +{"scene_index": 182, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 183, "scene": "Spoon is located at the front right. Cup is positioned at the front left and another cup is at the front right. Coffee beans are also placed at the front right."} +{"scene_index": 184, "scene": "The spoon is on the left, there are four cups positioned in various locations: two at the front (one right and one left), one also on the left, and the coffee beans are located at the front left."} +{"scene_index": 185, "scene": "The spoon is at the front right, with the coffee beans also in the front right. The two cups are positioned to the front left and front right."} +{"scene_index": 186, "scene": "The spoon is on the right, one cup is in front left, another cup and coffee beans are in front right, and a third cup is also on the right."} +{"scene_index": 187, "scene": "The cup is at front left, the spoon is on the right, the coffee beans are at front right, and another cup is also at front right."} +{"scene_index": 188, "scene": "Spoon is located at the front right, cup is positioned at the front left and another cup is also placed at the front right, and coffee beans are also placed at the front right."} +{"scene_index": 189, "scene": "The spoon is at the front right, the cup is at the front left, the coffee beans are also at the front right."} +{"scene_index": 190, "scene": "The spoon is at front left, the first cup is at front right, the coffee beans are at front left, and the second cup is also at front left."} +{"scene_index": 191, "scene": "The cup is in the front-left position, the spoon is on the right, and two sets of coffee beans are both in the front-right position."} +{"scene_index": 192, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 193, "scene": "Spoon is located at front left. Cup (front right) and another cup (front left) are positioned on either side. Coffee beans are placed in the front left area."} +{"scene_index": 194, "scene": "Spoon is on the right side. Cup is in front-left position. Another cup is in front-right position. Coffee beans are also in front-right position."} +{"scene_index": 195, "scene": "Spoon is at front left. The first cup is at front right. The second cup is at front left. Coffee beans are at front left."} +{"scene_index": 196, "scene": "The spoon is located at the front right, the cup is positioned at the front left and another cup is also at the front right, and the coffee beans are placed at the front right."} +{"scene_index": 197, "scene": "cup front left, spoon front right, cup front right, coffee beans front right."} +{"scene_index": 198, "scene": "Spoon is at front left, cup (first mentioned) is at front right, coffee beans are at front left, and cup (second mentioned) is also at front left."} +{"scene_index": 199, "scene": "Cup front right Spoon front left Coffee Beans front left"} +{"scene_index": 200, "scene": "In the given arrangement, there is a cup at the front right, a spoon at the front left, another cup and coffee beans both at the front left."} +{"scene_index": 201, "scene": "Spoon is located at front right, Cup (1) is located at front left, Coffee beans are located at front right, and Cup (2) is located at front right."} +{"scene_index": 202, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 203, "scene": "The spoon is at front left, the cup is at front right and another cup is also at front left, with coffee beans placed in front left as well."} +{"scene_index": 204, "scene": "The spoon is in the front right, the cup is in the front left and three cups are in the front right, along with the coffee beans also in the front right."} +{"scene_index": 205, "scene": "The spoon is located at front left, next to the coffee beans which are also at front left. The cups are positioned at both front left and front right."} +{"scene_index": 206, "scene": "The cup is in the front right, the spoon is on the left, the coffee beans are in the front left, and there s another cup in the front left."} +{"scene_index": 207, "scene": "At the front right is a spoon; also there are two cups and coffee beans."} +{"scene_index": 208, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 209, "scene": "Cup is at front left; another cup is at front right; spoon is on the right; coffee beans are also at front right."} +{"scene_index": 210, "scene": "cup front right, cup front left, coffee beans front left, and spoon left"} +{"scene_index": 211, "scene": "The spoon is at the front right, with three cups also positioned at the front right and one cup at the front left. The coffee beans are next to the spoon in the front right area."} +{"scene_index": 212, "scene": "The spoon is located at the front right, while there are two cups and coffee beans also positioned at the front right. Additionally, a cup is placed at the front left."} +{"scene_index": 213, "scene": "Spoon is at front left Cup (front right) is positioned diagonally opposite to cup (front left) Both cups and coffee beans are located in the front left"} +{"scene_index": 214, "scene": "The spoon is at the front right, the cup is at the front left, the coffee beans are also at the front right."} +{"scene_index": 215, "scene": "The spoon is in front left. The cup is front right and front left. The coffee beans are front left."} +{"scene_index": 216, "scene": "The spoon is located in the front right position. The first cup is also in the front right, while the second cup is placed in the front left. Additionally, there are two sets of coffee beans positioned in the front right area."} +{"scene_index": 217, "scene": "Spoon is located at front left; cup (front right) is positioned diagonally opposite to the other objects, while another cup shares the same location as the spoon and coffee beans placed alongside them."} +{"scene_index": 218, "scene": "The spoon is at front right, the cup (front left) holds coffee beans, with another cup at front right."} +{"scene_index": 219, "scene": "Spoon is at front left. The first cup is at front right. The second cup is at front left. Coffee beans are at front left."} +{"scene_index": 220, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 221, "scene": "Spoon is on the right. The cup in front-left contains coffee beans. There is a cup in front-right. There is another cup on the right."} +{"scene_index": 222, "scene": "The spoon is on the right, the cup is in the front-left, the coffee beans are in the front-right, and there s another cup in the front-right."} +{"scene_index": 223, "scene": "The cup is at front left, while the other cup, spoon, and coffee beans are all located at front right."} +{"scene_index": 224, "scene": "The cup is in the front right, while the other cup, coffee beans, and spoon are all located in the front left."} +{"scene_index": 225, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left, and the coffee beans are also at front left."} +{"scene_index": 226, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 227, "scene": "The cup is at front right. The spoon is at left. The coffee beans are at front left. The cup is at front left."} +{"scene_index": 228, "scene": "The spoon is located at front left, a cup is at front right, another cup is at front left, coffee beans are at front left, and another cup is at front left."} +{"scene_index": 229, "scene": "Spoon is in front left, cup is in front right, another cup is in front left, coffee beans are in front left."} +{"scene_index": 230, "scene": "Spoon is on the right. The cup in front left is a single object. The cups and coffee beans are both on front right."} +{"scene_index": 231, "scene": "The spoon is at front left, related to the coffee beans also at front left. The first cup is at front right, and two additional cups are at front left, with no specific relationships stated beyond their positions."} +{"scene_index": 232, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 233, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 234, "scene": "The spoon is on the right, the cup is in front-left, another cup is in front-right, coffee beans are also in front-right, and a third cup is on the right."} +{"scene_index": 235, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 236, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 237, "scene": "The spoon is at front right, the cup is at front left, and there are two cups and coffee beans all at front right."} +{"scene_index": 238, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 239, "scene": "The spoon is on the right side, with the cups positioned at front left, front right, and right, and the coffee beans are also located at front right."} +{"scene_index": 240, "scene": "Cup is in front right, spoon is on left, coffee beans are in front left, another cup is in front left."} +{"scene_index": 241, "scene": "Spoon is at front right. Cup 1 is at front right. Cup 2 is at front left. Coffee beans are at front right. Cup 3 is at right."} +{"scene_index": 242, "scene": "The cup is positioned at front left Coffee beans are located at front right Another cup is placed at front right The spoon is situated on the right side"} +{"scene_index": 243, "scene": "In the front-left area, there is a spoon alongside coffee beans and two cups; in the front-right corner, there is another cup."} +{"scene_index": 244, "scene": "The cup is in the front left, the spoon is on the right, another cup is in the front right along with coffee beans also in the front right."} +{"scene_index": 245, "scene": "The spoon is on the left. The cup is in front-right. The coffee beans are in front-left. Another cup is in front-left."} +{"scene_index": 246, "scene": "The spoon is on the right, with a cup in front of it on the right. Another cup and coffee beans are both on the front right."} +{"scene_index": 247, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 248, "scene": "Spoon is at front left. The first cup is at front right. The second cup is at front left. Coffee beans are at front left."} +{"scene_index": 249, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 250, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 251, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 252, "scene": "The spoon is at front left, with a cup also at front left and another cup at front right; there are coffee beans and coffee at front left."} +{"scene_index": 253, "scene": "The spoon is at front left, the cup is at front right and front left, and the coffee beans are at front left."} +{"scene_index": 254, "scene": "In the front-left area, there is a spoon alongside coffee beans and two cups; in the front-right corner, there is another cup."} +{"scene_index": 255, "scene": "The cup is in the front-left position, while the other cup, along with the coffee beans and spoon, are all located in the front-right position."} +{"scene_index": 256, "scene": "The spoon is at front right, the cup at front left, another cup at front right, and coffee beans are also at front right."} +{"scene_index": 257, "scene": "Spoon is on the right. Cup is in front left. Another cup is in front right. Coffee beans are also in front right. A third cup is on the right."} +{"scene_index": 258, "scene": "Spoon is at front right, cup is at front left, another cup is at front right, coffee beans are at front right, a cup is at right."} +{"scene_index": 259, "scene": "The spoon is on the right, the cup is in front-left, the coffee beans are in front-right, and another cup is also in front-right."} +{"scene_index": 260, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 261, "scene": "The spoon is at front left, the cup is at front right and another cup is also at front left, with coffee beans placed in front left as well."} +{"scene_index": 262, "scene": "Cup is at front right; cup, spoon, and coffee beans are all at front left."} +{"scene_index": 263, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and there is another cup in the front left."} +{"scene_index": 264, "scene": "The cup is at front right, while the spoon, cups, and coffee beans are all at front left."} +{"scene_index": 265, "scene": "The spoon is front left, the cup is front right, and there are coffee beans also front left."} +{"scene_index": 266, "scene": "The spoon is at front left, the cup is at front right and another cup is also at front left, with coffee beans placed in front left as well."} +{"scene_index": 267, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 268, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 269, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 270, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 271, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 272, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 273, "scene": "The spoon is on the left, while the cups with coffee beans are located at front left and front right."} +{"scene_index": 274, "scene": "The cup is on front right, spoon on front left, and coffee beans on front left."} +{"scene_index": 275, "scene": "Spoon is in front left. Cup is in front right, another cup, coffee beans, and coffee are all in front left."} +{"scene_index": 276, "scene": "Spoon is located at front left. Cup (front right) is positioned diagonally opposite to the other objects. The cup at front left shares the same location as the spoon and coffee beans. Coffee beans are placed alongside the spoon and cup at front left. Another cup is also situated at front left, mirroring the position of the existing cup."} +{"scene_index": 277, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 278, "scene": "The cup is in front left, spoon and coffee beans are both in front right."} +{"scene_index": 279, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 280, "scene": "The cup is in the front-left position, the spoon is in the front-right position, another cup is also in the front-right position along with the coffee beans."} +{"scene_index": 281, "scene": "The spoon is at front right, the cup is at front left, and there are two cups and coffee beans all at front right."} +{"scene_index": 282, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 283, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 284, "scene": "The cup is in front right, while the spoon, three cups, and coffee beans are all located in front left."} +{"scene_index": 285, "scene": "The spoon is at the front right, the cup is at the front left, and there are coffee beans also at the front right."} +{"scene_index": 286, "scene": "The spoon is located at front left. The first cup is positioned at front right. The second cup is at front left. Coffee beans are placed at front left."} +{"scene_index": 287, "scene": "Spoon is located at front left Cup (front right) and another cup (front left) are positioned on either side Coffee beans are placed in the front left area"} +{"scene_index": 288, "scene": "The cup is front right, the spoon is front left, the coffee beans are front left, and the other cup is also front left."} +{"scene_index": 289, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 290, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 291, "scene": "The cup is located at front left, the coffee beans are placed at front right, there is also another cup at front right, and the spoon is positioned at front right."} +{"scene_index": 292, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 293, "scene": "The spoon is on the left, the cup is in front right, another cup and coffee beans are both in front left."} +{"scene_index": 294, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 295, "scene": "The spoon is at the front right, alongside the coffee beans. The cup on the front left and the two cups on the front right are all nearby."} +{"scene_index": 296, "scene": "The cup is at front left, spoon is at right, coffee beans are at front right, and the cup is also at front right."} +{"scene_index": 297, "scene": "The spoon is on the right, the cup at front left contains coffee beans, and another cup is at front right."} +{"scene_index": 298, "scene": "The spoon is at the front right, the cup is at the front left, and there are coffee beans also at the front right."} +{"scene_index": 299, "scene": "Cup at front left, cup and spoon with coffee beans all at front right."} +{"scene_index": 300, "scene": "The spoon is at the front left, near the cup on the front left and the coffee beans also on the front left; there s another cup on the front left and a cup on the front right."} +{"scene_index": 301, "scene": "Spoon is on the left Two cups are placed in front of the scene one is on the front right and the other is on the front left Additionally coffee beans are located on the front left"} +{"scene_index": 302, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 303, "scene": "The spoon is in the front right, the cup is in the front left and front right, and coffee beans are also in the front right."} +{"scene_index": 304, "scene": "The spoon is on the left, the cup is in front right, the coffee beans are in front left, and there are additional cups in various positions."} +{"scene_index": 305, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 306, "scene": "Cup is front left; two cups, spoon, and coffee beans are all front right."} +{"scene_index": 307, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 308, "scene": "Spoon is in front left, cup is in front right, another cup is in front left, and coffee beans are in front left."} +{"scene_index": 309, "scene": "Spoon is on the left, cup is in front-right, and coffee beans are in front-left."} +{"scene_index": 310, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and there is another cup in the front left."} +{"scene_index": 311, "scene": "The cup is in front right; coffee beans and spoon are in front left."} +{"scene_index": 312, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 313, "scene": "Spoon is positioned in front right Cup (1) is positioned in front right and shares its position with coffee beans Another cup (2) is positioned in front left A third cup (3) is positioned to the right"} +{"scene_index": 314, "scene": "The spoon is at front right, the first cup is at front left, the coffee beans are at front right, and there are two additional cups at front right."} +{"scene_index": 315, "scene": "The spoon is on the right, with two cups placed at front left and front right positions respectively, and coffee beans located at the front right."} +{"scene_index": 316, "scene": "The spoon is in the front-right position, alongside the coffee beans also in the front-right. A cup is located in the front-left, another cup is in the front-right, and a third cup is on the right side."} +{"scene_index": 317, "scene": "The spoon is at front right, the first cup is at front left, the coffee beans are at front right, and there are two additional cups at front right."} +{"scene_index": 318, "scene": "The cup is in front left; a cup, spoon, coffee beans, and another cup are all located in front right."} +{"scene_index": 319, "scene": "At the front right, there is a spoon and coffee beans, along with three cups. The cup at the front left is separate from the others."} +{"scene_index": 320, "scene": "In the front row from left to right: spoon is on the front left, coffee beans are also on the front left. There s a cup on the front left and another cup on the front right."} +{"scene_index": 321, "scene": "The cup is front right, the spoon is front left, the coffee beans are front left, and the other cup is also front left."} +{"scene_index": 322, "scene": "The spoon is located at the front right, the cup is at the front left, the coffee beans are also at the front right, and another cup is placed at the front right."} +{"scene_index": 323, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 324, "scene": "Spoon is positioned at front left. Cup (1) is positioned at front right. Cup (2) is positioned at front left. Coffee is positioned at front left. Coffee beans are positioned at front left."} +{"scene_index": 325, "scene": "The spoon is at front right, the cup at front left, another cup at front right, and coffee beans are also at front right."} +{"scene_index": 326, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 327, "scene": "Spoon is at front left, Cup front right is positioned diagonally opposite to cup front left, Both cups and coffee beans are located in the front left."} +{"scene_index": 328, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 329, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 330, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, another cup is also in front right, and a third cup is on the right."} +{"scene_index": 331, "scene": "The spoon is on the left, with two cups positioned at front right and front left. Coffee beans are located in front left, sharing the same position as one of the cups."} +{"scene_index": 332, "scene": "Spoon is at front left, the first-mentioned cup is at front right, coffee beans are at front left, and the second-mentioned cup is also at front left."} +{"scene_index": 333, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 334, "scene": "Spoon is at front left, cup (front right) is positioned diagonally opposite to cup (front left), both cups and coffee beans are located in the front left."} +{"scene_index": 335, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 336, "scene": "The items are: a cup (front right), coffee beans (front left), a cup (front left), coffee beans (front left), and a spoon (front left)."} +{"scene_index": 337, "scene": "The spoon is at front right, the cup is at front left, and there are three cups at front right along with the coffee beans."} +{"scene_index": 338, "scene": "Spoon is on the right side. Cup is in front-left position. Another cup is in front-right position. Coffee beans are also in front-right position."} +{"scene_index": 339, "scene": "The spoon is on the right, the cup is in the front-left, the coffee beans are in the front-right, and there s another cup in the front-right."} +{"scene_index": 340, "scene": "The spoon is on the left, the cup is in front right, the coffee beans are in front left, and another cup is also in front left."} +{"scene_index": 341, "scene": "The spoon is on the right, with two cups placed in front of itβ€”one on the front left and one on the front rightβ€”and the coffee beans are also positioned on the front right."} +{"scene_index": 342, "scene": "Spoon is located at the front-right. The first cup is placed at the front-left. The second cup is positioned at the front-right. Coffee beans are situated at the front-right. Another set of coffee beans is also at the front-right."} +{"scene_index": 343, "scene": "The spoon is at front right, the cup (front left) holds coffee beans, with another cup at front right."} +{"scene_index": 344, "scene": "The spoon is front left, the cup is front right, and there are coffee beans also front left."} +{"scene_index": 345, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left with coffee beans also at front left."} +{"scene_index": 346, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 347, "scene": "Spoon is at front right Cup (front left) is at front left Cup (front right) is at front right Coffee beans are at front right Cup (right) is at right"} +{"scene_index": 348, "scene": "The cup is in front right. The coffee beans and spoon are both in front left, alongside another cup which also holds coffee beans."} +{"scene_index": 349, "scene": "Spoon is in front right. Cup (1) is in front left. Coffee beans are in front right. Cup (2) is in front right. Cup (3) is in front right."} +{"scene_index": 350, "scene": "The spoon is located at the front right, the cup is at the front left, the coffee beans are also at the front right, and another cup is placed at the front right."} +{"scene_index": 351, "scene": "In the front-left area, there is a spoon alongside coffee beans and two cups; in the front-right corner, there is another cup."} +{"scene_index": 352, "scene": "The spoon is at front right, front left has a cup, another cup is at front right with coffee beans also there, and the last cup is on the right."} +{"scene_index": 353, "scene": "The spoon is on the right, the cup in front left contains coffee beans, another cup is in front right, and a third cup is also on the right."} +{"scene_index": 354, "scene": "The cup is positioned front right, with another cup in front left. The coffee beans are located front left, near the second cup and spoon, which is on the left side."} +{"scene_index": 355, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 356, "scene": "Spoon is located at front right, and the cup on the front right holds coffee beans."} +{"scene_index": 357, "scene": "Spoon is located at the front right. The cup at the front left is separate from the others. There are three cups positioned at the front right. Two sets of coffee beans are also placed at the front right."} +{"scene_index": 358, "scene": "In the front row from left to right: spoon is on the front left, coffee beans are also on the front left. There s a cup on the front left and another cup on the front right."} +{"scene_index": 359, "scene": "The spoon is in the front left, the first cup is also in the front left, the coffee beans are in the front left, and the second cup is in the front left."} +{"scene_index": 360, "scene": "The spoon is located at the front right, the cup is at the front left, the coffee beans are also at the front right, and another cup is placed at the front right."} +{"scene_index": 361, "scene": "Spoon is in front left, cup is in front right, another cup is in front left, coffee beans are in front left."} +{"scene_index": 362, "scene": "The spoon is at front left. The cup (front right) is positioned diagonally opposite to the cup (front left). Both cups and coffee beans are located in the front left."} +{"scene_index": 363, "scene": "The spoon is at front right, the cup is at front left, another cup is also at front right, and coffee beans are also located at front right."} +{"scene_index": 364, "scene": "The spoon is located in the front-left position, sharing the same spot as the cup and the coffee beans also in front-left. There s another cup placed in the front-right position, but the coffee beans remain in the front-left."} +{"scene_index": 365, "scene": "The spoon is at the front right, with the coffee beans also in the front right. The two cups are positioned to the front left and front right."} +{"scene_index": 366, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 367, "scene": "The spoon is at the front right, the first cup is at the front left, the second cup is also at the front right, and the coffee beans are at the front right."} +{"scene_index": 368, "scene": "Cup at front left; coffee beans and spoon at front right, with another cup also at front right."} +{"scene_index": 369, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 370, "scene": "The spoon is at front left, the first cup is at front left, the second cup is at front right, and the coffee beans are also at front left."} +{"scene_index": 371, "scene": "Spoon is at front right Cup (1) is at front left another cup (2) and a third cup (3) are both at front right"} +{"scene_index": 372, "scene": "The spoon is on the left, the cup is in front right, the coffee beans are in front left, and another cup is also in front left."} +{"scene_index": 373, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 374, "scene": "The spoon is on the right, the cup is in front-left, another cup and coffee beans are both in front-right."} +{"scene_index": 375, "scene": "The spoon is at front right, the cup at front left, another cup at front right, and coffee beans are also at front right."} +{"scene_index": 376, "scene": "Spoon is on the left. Cup is in the front right. Coffee beans are in the front left. Another cup is in the front left. A third cup is on the left."} +{"scene_index": 377, "scene": "The spoon is on the right, the cup is in front-left, and there are three cups in front-right."} +{"scene_index": 378, "scene": "Spoon is located at front left. The first cup is positioned at front right. The second cup is at front left. Coffee beans are placed at front left."} +{"scene_index": 379, "scene": "Spoon is in front left, cup is in front right, another cup is in front left, coffee beans are in front left."} +{"scene_index": 380, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left with two additional cups also at front left."} +{"scene_index": 381, "scene": "The spoon is on the right side, while the cups are positioned in front left and front right. Additionally, coffee beans are located at front right."} +{"scene_index": 382, "scene": "The spoon is at the front right, with the coffee beans also in the front right. The two cups are positioned to the front left and front right."} +{"scene_index": 383, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 384, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 385, "scene": "Spoon is at front left. Cup front right is positioned diagonally opposite to cup front left. Both cups and coffee beans are located in front left."} +{"scene_index": 386, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, another cup is also in the front left, and a third cup is on the left."} +{"scene_index": 387, "scene": "The cup is in front left, the spoon is in front right, another cup is also in front right near the coffee beans."} +{"scene_index": 388, "scene": "The cup is in the front left position, with a spoon, two cups, and coffee beans all located in the front right."} +{"scene_index": 389, "scene": "The spoon is on the right, the cup in front left contains coffee beans, and there are multiple cups positioned at front right and right."} +{"scene_index": 390, "scene": "Cup 1 is at front right. Spoon is at front left. Cup 2 is at front left. Coffee beans are at front left."} +{"scene_index": 391, "scene": "The spoon is in front left, the cup is front right and front left, and the coffee beans are front left."} +{"scene_index": 392, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 393, "scene": "The cup is positioned in front left and front right, while the spoon is on the right."} +{"scene_index": 394, "scene": "Spoon is in front left. Cup is front right and front left. Coffee beans are front left."} +{"scene_index": 395, "scene": "The spoon is at front left, the cup is at front right and another cup is also at front left, with coffee beans placed in front left as well."} +{"scene_index": 396, "scene": "The spoon is on the right, with two cups placed in front of itβ€”one on the front left and one on the front rightβ€”and the coffee beans are also positioned on the front right."} +{"scene_index": 397, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 398, "scene": "The spoon is on the left, the cup is in the front right, the coffee beans are in the front left, and another cup is also in the front left."} +{"scene_index": 399, "scene": "The cup is in the front left, while the spoon, coffee beans, and two additional cups are all in the front right."} +{"scene_index": 400, "scene": "The spoon is at front right, sharing its position with the cup in front right. The second cup is at front left. The coffee beans are also at front right."} +{"scene_index": 401, "scene": "The spoon is in the front right, the cup is in the front left and three cups are in the front right, along with the coffee beans also in the front right."} +{"scene_index": 402, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 403, "scene": "The spoon is on the right, the cup is in the front-left, the coffee beans are in the front-right, and there s another cup in the front-right."} +{"scene_index": 404, "scene": "The spoon is at front left, the cup is at front right and three objects are at front left (two coffee beans and one cup)."} +{"scene_index": 405, "scene": "The spoon is in front right, the cup is in front left, another cup and two sets of coffee beans are all in front right."} +{"scene_index": 406, "scene": "The cup is in the front right, the spoon is on the left, another cup is on the front left along with the coffee beans."} +{"scene_index": 407, "scene": "The spoon is located at the front right, while there are two cups and coffee beans also positioned at the front right. Additionally, a cup is placed at the front left."} +{"scene_index": 408, "scene": "The spoon is at the front right, with three cups also positioned at the front right and one cup at the front left. The coffee beans are next to the spoon in the front right area."} +{"scene_index": 409, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 410, "scene": "Spoon is on the right side. Cup is in front-left position. Another cup is in front-right position. Coffee beans are also in front-right position."} +{"scene_index": 411, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left, and the coffee beans are also at front left."} +{"scene_index": 412, "scene": "Spoon is at front left The first cup is at front right The second cup is at front left Coffee beans are at front left"} +{"scene_index": 413, "scene": "The cup is in the front-right position, the spoon is in the front-left position, another cup is also in the front-left position, and the coffee beans are placed in the front-left as well."} +{"scene_index": 414, "scene": "The cup is at front right, coffee beans and spoon are both at front left."} +{"scene_index": 415, "scene": "Spoon is in front right Cup (1) is in front left Coffee beans are in front right Cup (2) is in front right Cup (3) is in front right"} +{"scene_index": 416, "scene": "The spoon is positioned in the front right. The first cup is located at the front left. Another cup and two sets of coffee beans are both placed in the front right."} +{"scene_index": 417, "scene": "Cup (front right), coffee beans (front left), cup (front left), spoon (front left)."} +{"scene_index": 418, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 419, "scene": "The cup is positioned front left, while the spoon, a cup, and coffee beans are all in front right."} +{"scene_index": 420, "scene": "The spoon is located at the front left, the first cup is positioned at the front right, the second cup is at the front left, and coffee beans are placed at the front left."} +{"scene_index": 421, "scene": "The spoon is positioned in the front-right area, along with the coffee beans. Additionally, there is a cup located in both the front-right and front-left positions."} +{"scene_index": 422, "scene": "The spoon is located at the front right, while the cup on the front right shares its position with the coffee beans."} +{"scene_index": 423, "scene": "The cup is on the front right, the spoon is on the front left, the cup is on the front left, and the coffee beans are on the front left."} +{"scene_index": 424, "scene": "In the scene, there is a spoon located at front left, with multiple cups positioned both in front left and front right. Additionally, coffee beans are placed at front left along with another cup."} +{"scene_index": 425, "scene": "Spoon is located at front right, cup (1) is located at front left, coffee beans are located at front right, and cup (2) is located at front right."} +{"scene_index": 426, "scene": "The spoon is on the right, with two cups placed at front left and front right positions respectively, and coffee beans located at the front right."} +{"scene_index": 427, "scene": "Spoon is at front left Cup front right is positioned diagonally opposite to cup front left Both cups and coffee beans are located in the front left"} +{"scene_index": 428, "scene": "The spoon is at front left, the first cup is at front right, the coffee beans are at front left, and the second cup is also at front left."} +{"scene_index": 429, "scene": "The cup is at front left and there is another cup at front right, the spoon is at right, and the coffee beans are at front right."} +{"scene_index": 430, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 431, "scene": "Spoon is on the left, cup is at front right, and coffee beans are at front left."} +{"scene_index": 432, "scene": "The spoon is on the left, while two cups and the coffee beans are positioned at front right and front left respectively."} +{"scene_index": 433, "scene": "The cup is positioned in the front left, while the spoon, coffee beans, and two cups are all in the front right."} +{"scene_index": 434, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 435, "scene": "At the front right, there is a spoon and coffee beans, along with three cups. The cup at the front left is separate from the others."} +{"scene_index": 436, "scene": "The spoon is at the front right, coffee beans are also at the front right, the cup is at the front left, and there s another cup at the front right."} +{"scene_index": 437, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 438, "scene": "The cup is front right, the spoon is front left, another cup is front left, and coffee beans are also front left."} +{"scene_index": 439, "scene": "The spoon is on the right, with two cups located at front left and front right, and coffee beans positioned at front right."} +{"scene_index": 440, "scene": "cup is front left spoon is front right cup is front right coffee beans are front right cup is front right"} +{"scene_index": 441, "scene": "The spoon is on the right. The cup is in front left. Another cup is in front right. Coffee beans are also in front right. The last cup is on the right."} +{"scene_index": 442, "scene": "The cup is in front left, the coffee beans are in front right, the cup is in front right, the spoon is in front right, and the cup is on the right."} +{"scene_index": 443, "scene": "Cup is front left, spoon is right, cup is front right, coffee beans are front right."} +{"scene_index": 444, "scene": "Spoon is located at front right and the cup on the front right holds coffee beans."} +{"scene_index": 445, "scene": "The spoon is at front left, the cup is at front right, and there are coffee beans at front left."} +{"scene_index": 446, "scene": "The spoon is on the left, there s a cup in the front right, coffee beans in the front left, and another cup in the front left."} +{"scene_index": 447, "scene": "The spoon is at front left, the cup is at front right, another cup is also at front left, and there are two sets of coffee beans both at front left."} +{"scene_index": 448, "scene": "The cup is positioned at the front right. The spoon is positioned at the front left. Two cups are positioned at the front left. Two sets of coffee beans are also positioned at the front left."} +{"scene_index": 449, "scene": "The cup is on the front right. The spoon is on the front left. The coffee beans are on the front left. The cup is on the front left."} +{"scene_index": 450, "scene": "The cup is in front right, the spoon is on left, the coffee beans are in front left, the cup is in front left."} +{"scene_index": 451, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 452, "scene": "The spoon is at front right, cup1 is at front left, cup2 is also at front right, and coffee beans are at front right."} +{"scene_index": 453, "scene": "The spoon is at front left, the cup is at front right, another cup is at front left, and the coffee beans are also at front left."} +{"scene_index": 454, "scene": "1 Spoon is on the left. 2 Two cups are placed in front of the scene; one is on the front right and the other is on the front left. Additionally, coffee beans are located on the front left."} +{"scene_index": 455, "scene": "The cup is front right, the spoon is front left, another cup is front left, and coffee beans are also front left."} +{"scene_index": 456, "scene": "At the front right, there is a spoon and coffee beans, along with three cups. The cup at the front left is separate from the others."} +{"scene_index": 457, "scene": "The spoon is on the right side, while the cups are positioned in the front left and front right areas. Additionally, there are coffee beans located at the front right."} +{"scene_index": 458, "scene": "The spoon is on the right, with cups positioned in front left, front right, and another cup also on the right, sharing space with coffee beans located in the front right."} +{"scene_index": 459, "scene": "Spoon is located at front left, the first cup is positioned at front right, the second cup is at front left, and coffee beans are placed at front left."} +{"scene_index": 460, "scene": "The cup is in front left the spoon is on the right the cup is in front right the coffee beans are in front right"} +{"scene_index": 461, "scene": "Spoon is located at the front left. Cup (first occurrence) is at the front right. Coffee beans are positioned at the front left. Cup (second occurrence) shares the same front left position as the spoon and coffee beans."} +{"scene_index": 462, "scene": "The spoon is located in the front-right position, with the coffee beans also placed nearby at front-right. The two cups are positioned one on the front-left and another on the front-right."} +{"scene_index": 463, "scene": "The spoon is at the front right, with the coffee beans also in the front right. The two cups are positioned to the front left and front right."} +{"scene_index": 464, "scene": "There is a cup in the front right, a spoon and two cups of coffee beans in the front left."} +{"scene_index": 465, "scene": "The spoon is at front right, the cup is at front left, another cup is at front right, and coffee beans are also at front right."} +{"scene_index": 466, "scene": "Cup 1 is at front right. Spoon is at front left. Cup 2 is at front left. Coffee beans are at front left."} +{"scene_index": 467, "scene": "The cup is front left, spoon is front right, cup is front right, coffee beans are front right, and cup is front right."} +{"scene_index": 468, "scene": "Spoon is located at front right. The cup on the front right holds coffee beans."} +{"scene_index": 469, "scene": "The cup at front right is positioned in front right; the spoon is at front left; two cups and coffee beans are all at front left."} +{"scene_index": 470, "scene": "Spoon is in front left. Cup is in front right. Another cup is in front left. Coffee beans are in front left."} +{"scene_index": 471, "scene": "Spoon is in front left. The cup is on the front right and front left. Coffee beans are on the front left."} +{"scene_index": 472, "scene": "Spoon is in front left cup is front right and front left coffee beans are front left"} +{"scene_index": 473, "scene": "The spoon is located in the front-right position, with the coffee beans also placed nearby at front-right. The two cups are positioned one on the front-left and another on the front-right."} +{"scene_index": 474, "scene": "The cup is located at front left, the spoon is located at right, the cup is located at front right, and the coffee beans are located at front right."} +{"scene_index": 475, "scene": "At the front right, there is a spoon and coffee beans, along with three cups. The cup at the front left is separate from the others."} +{"scene_index": 476, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 477, "scene": "In front of the scene on the right is a cup; in front on the left are two cups, a spoon, and coffee beans."} +{"scene_index": 478, "scene": "Spoon is located at front left. The first cup is positioned at front right. The second cup is at front left. Coffee beans are placed at front left."} +{"scene_index": 479, "scene": "The spoon is at front right, alongside coffee beans also at front right. The cups are positioned at both front left and front right."} +{"scene_index": 480, "scene": "The cup is in the front-left position; coffee beans and a spoon are both in the front-right position."} +{"scene_index": 481, "scene": "The spoon is on the right, the cup is in front left, the coffee beans are in front right, and another cup is also in front right."} +{"scene_index": 482, "scene": "The spoon is at the front right, the cup is at the front left, another cup is at the front right, and the coffee beans are also at the front right."} +{"scene_index": 483, "scene": "The spoon is on the right, the cup (front left) contains coffee beans, and another cup is located at front right."} +{"scene_index": 484, "scene": "The cup is in front right, the spoon is on the left, the coffee beans are at front left and center, and another cup is at front left."} +{"scene_index": 485, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left along with the coffee beans also in front left."} +{"scene_index": 486, "scene": "The cup in front right is unrelated to others. The cups and coffee beans in front left are clustered together with a spoon nearby but not directly related."} +{"scene_index": 487, "scene": "The spoon is on the right, two cups are positioned at front left and front right, with coffee beans also located at front right."} +{"scene_index": 488, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left along with the coffee beans also in front left."} +{"scene_index": 489, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 490, "scene": "The spoon is on the right side, the cup is in front-left position, another cup is in front-right position, and coffee beans are also in front-right position."} +{"scene_index": 491, "scene": "Spoon is located at the front right. Cup is positioned at the front left and another cup is at the front right. Coffee beans are also placed at the front right."} +{"scene_index": 492, "scene": "Spoon is in the front right, coffee beans are also in the front right, there s a cup in the front left, another cup in the front right, and a third cup on the right."} +{"scene_index": 493, "scene": "The cup is in the front right, the spoon is in the front left, the coffee beans are also in the front left, and another cup is in the front left."} +{"scene_index": 494, "scene": "The spoon is at the front left, near the cup on the front left and the coffee beans also on the front left; there s another cup on the front left and a cup on the front right."} +{"scene_index": 495, "scene": "The spoon is on the right, with two cups positioned at front left and front right, and the coffee beans are also at front right."} +{"scene_index": 496, "scene": "The spoon is at the front left, near the cup on the front left and the coffee beans also on the front left; there s another cup on the front left and a cup on the front right."} +{"scene_index": 497, "scene": "Spoon is in front right cup (1) is in front left coffee beans are in front right cup (2) is in front right and cup (3) is also in front right."} +{"scene_index": 498, "scene": "The spoon is on the left, the cup is in front right, another cup is in front left along with the coffee beans also in front left."} +{"scene_index": 499, "scene": "The spoon is on the right, the cup (front left) contains coffee beans, and another cup is located at front right."} diff --git a/Split_aloha_scoop_coffee_beans/annotations/subtask_annotations.jsonl b/Split_aloha_scoop_coffee_beans/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d62c827d23136530c7304a93692dc0bcf3cb3072 --- /dev/null +++ b/Split_aloha_scoop_coffee_beans/annotations/subtask_annotations.jsonl @@ -0,0 +1,6 @@ +{"subtask_index": 0, "subtask": "Place the spoon back in its original place"} +{"subtask_index": 1, "subtask": "Move the cup to 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