| { |
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| 209, |
| 315, |
| 458, |
| 595, |
| 721, |
| 822, |
| 974 |
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| "summary": { |
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| "iou_median": 0.014851485148514804, |
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| "records": { |
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| { |
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| "gen_text": "The yellow cube now sits on the table directly below the gripper; the white plastic storage bin is visible to the right of the gripper. The gripper is open and descending toward the yellow cube, at @grip_now <loc0146><loc0446><loc0204><loc0468><seg023><seg064><seg078><seg087><seg086><seg062><seg091><seg082><seg022><seg068><seg038><seg054><seg014><seg078><seg099><seg035> <loc0169><loc0401><loc0225><loc0422><seg106><seg091><seg078><seg011><seg022><seg061><seg068><seg082><seg022><seg091><seg026><seg022><seg093><seg114><seg093><seg049>." |
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| { |
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| "gen_text": "The gripper has descended and moved horizontally to hover just above the yellow cube on the table, fingers open and converging around it; the white plastic storage bin is visible to the right and the orange discs and the green cube remain on the table. @grip_now <loc0340><loc0585><loc0385><loc0599><seg064><seg041><seg044><seg066><seg022><seg106><seg054><seg038><seg022><seg023><seg066><seg022><seg015><seg009><seg089><seg088> <loc0324><loc0538><loc0363><loc0552><seg106><seg011><seg057><seg071><seg104><seg048><seg026><seg022><seg022><seg048><seg106><seg082><seg072><seg041><seg044><seg088> is open and converging." |
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| { |
| "ep": 0, |
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| "gen_text": "The gripper has descended and is now positioned directly above the yellow cube on the table, with the fingers beginning to converge around it; the white plastic storage bin sits in the background to the right. @grip_now <loc0489><loc0630><loc0526><loc0641><seg028><seg074><seg077><seg037><seg042><seg068><seg029><seg090><seg022><seg026><seg091><seg022><seg015><seg028><seg019><seg093> <loc0467><loc0594><loc0500><loc0605><seg091><seg041><seg004><seg037><seg042><seg064><seg106><seg022><seg104><seg062><seg077><seg022><seg030><seg068><seg060><seg093> shows the pads beginning to converge on the cube." |
| }, |
| { |
| "ep": 0, |
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| "gen_text": "The gripper holds the yellow cube and is positioned directly above the opening of the white plastic storage bin, which is visible to the right of the gripper; the yellow cube is being lowered toward the bin. @grip_now <loc0573><loc0623><loc0603><loc0632><seg052><seg041><seg044><seg066><seg022><seg064><seg023><seg022><seg022><seg066><seg052><seg022><seg015><seg004><seg057><seg017> <loc0552><loc0598><loc0585><loc0608><seg052><seg041><seg009><seg071><seg022><seg052><seg023><seg082><seg022><seg052><seg106><seg082><seg072><seg074><seg089><seg088> shows the closed hold on the cube." |
| }, |
| { |
| "ep": 0, |
| "frame_abs": 122, |
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| "iou": 0.3807531380753144, |
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| "gen_text": "The gripper holds the yellow cube and is positioned directly above the opening of the white plastic storage bin, which is visible below the gripper; the wrist view shows the cube gripped and the bin is in the background. The gripper is beginning to open. @grip_now <loc0567><loc0625><loc0597><loc0635><seg064><seg008><seg057><seg059><seg022><seg066><seg026><seg082><seg022><seg023><seg080><seg082><seg076><seg041><seg009><seg055> <loc0549><loc0599><loc0579><loc0610><seg106><seg011><seg057><seg092><seg022><seg048><seg026><seg042><seg022><seg106><seg026><seg022><seg058><seg074><seg045><seg088> is transitioning from closed hold toward an open release configuration." |
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| { |
| "ep": 0, |
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| "gen_text": "The gripper holds the yellow cube and is positioned above the table near the white plastic storage bin; the wrist view shows the cube held between the pads just above the bin opening. The gripper is closed at @grip_now <loc0494><loc0549><loc0525><loc0560><seg064><seg041><seg011><seg023><seg042><seg106><seg023><seg022><seg086><seg038><seg091><seg022><seg015><seg028><seg057><seg093> <loc0479><loc0532><loc0506><loc0543><seg091><seg041><seg009><seg071><seg022><seg052><seg106><seg022><seg022><seg092><seg052><seg082><seg076><seg041><seg057><seg069>." |
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| { |
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| "gen_text": "The gripper is open and has moved to a lower position over the table, hovering above the white terry towel cluster; the pink cloth and white towel are visible below. @grip_now <loc0311><loc0644><loc0338><loc0660><seg074><seg114><seg080><seg071><seg054><seg009><seg026><seg022><seg104><seg023><seg009><seg125><seg095><seg073><seg057><seg060> <loc0361><loc0640><loc0387><loc0657><seg074><seg074><seg080><seg092><seg054><seg041><seg023><seg022><seg022><seg066><seg004><seg104><seg070><seg075><seg060><seg019> is open in a wide approach configuration." |
| }, |
| { |
| "ep": 209, |
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| "iou": 0.14180672268907563, |
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| "gen_text": "The gripper is open and has moved laterally toward the left-center of the table where the pink cloth and white towel lie; the arm is descending toward the table surface. @grip_now <loc0512><loc0498><loc0538><loc0513><loc0560><loc0520><loc0592><loc0535><seg012><seg114><seg071><seg009><seg041><seg114><seg009><seg021><seg048><seg009><seg074><seg019><seg089><seg088><seg057><seg012> <loc0581><loc0530><loc0614><loc0544><seg012><seg114><seg037><seg057><seg074><seg114><seg089><seg023><seg061><seg009><seg057><seg019><seg089><seg095><seg057><seg012> shows an open configuration approaching the objects." |
| }, |
| { |
| "ep": 209, |
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| "emitted": true, |
| "iou": 0.14529374605179998, |
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| "gen_text": "The pink cloth and white terry towel remain on the black table; the open gripper is descending toward the white terry towel and is now hovering close above it, @grip_now <loc0712><loc0275><loc0741><loc0297><seg028><seg074><seg077><seg037><seg082><seg077><seg029><seg022><seg042><seg042><seg068><seg104><seg076><seg052><seg060><seg051> <loc0801><loc0279><loc0827><loc0303><seg028><seg021><seg091><seg106><seg022><seg077><seg054><seg104><seg042><seg062><seg064><seg022><seg065><seg091><seg060><seg093> in a wide open configuration." |
| }, |
| { |
| "ep": 209, |
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| "iou": 0.0, |
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| "box": [ |
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| "gen_text": "The open gripper is now very close to the white terry towel on the black table, nearly touching; the fingers are partially closing, @grip_now <loc0834><loc0235><loc0863><loc0258><seg052><seg009><seg036><seg023><seg104><seg066><seg054><seg042><seg022><seg023><seg106><seg082><seg015><seg004><seg089><seg075> <loc0943><loc0221><loc0976><loc0244><seg052><seg008><seg044><seg092><seg022><seg026><seg029><seg042><seg022><seg029><seg066><seg022><seg015><seg004><seg089><seg075> converging onto the cloth's fabric." |
| }, |
| { |
| "ep": 209, |
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| "iou": 0.0, |
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| "gen_text": "The gripper is at the surface of the black table directly over the white terry towel, with the fingers beginning to close; the gripper is in the process of closing, @grip_now <loc0813><loc0243><loc0839><loc0264><seg064><seg008><seg057><seg059><seg022><seg066><seg026><seg082><seg022><seg066><seg066><seg082><seg072><seg041><seg089><seg075> <loc0880><loc0239><loc0906><loc0261><seg106><seg004><seg009><seg092><seg022><seg026><seg023><seg082><seg022><seg048><seg026><seg022><seg072><seg041><seg044><seg075> with the cloth." |
| }, |
| { |
| "ep": 209, |
| "frame_abs": 58500, |
| "t_rel": 184, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 24.52286315348256, |
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| "gen_text": "The gripper is at a low position just above the table, fingers spread around a cloth item (white terry towel/towel) which has been deposited near the black table edge; the arm is angled downward toward the cloth. @grip_now <loc0275><loc0377><loc0313><loc0399><seg028><seg041><seg028><seg037><seg022><seg052><seg023><seg022><seg022><seg062><seg091><seg042><seg076><seg068><seg060><seg093> <loc0299><loc0371><loc0339><loc0392><seg028><seg041><seg077><seg106><seg022><seg052><seg054><seg104><seg022><seg062><seg064><seg042><seg076><seg028><seg019><seg063> shows the pads beginning to close on the fabric." |
| }, |
| { |
| "ep": 315, |
| "frame_abs": 111797, |
| "t_rel": 0, |
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| "iou": 0.06322444678609063, |
| "cdist_px": 12.299402873800766, |
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| "gen_text": "The yellow-green mug has been set down inside the black cup on the table; the gripper is opening and releasing the mug, which now sits heaped near the white cup at @grip_now <loc0121><loc0377><loc0163><loc0396><seg092><seg009><seg057><seg013><seg022><seg066><seg092><seg022><seg022><seg066><seg064><seg082><seg015><seg041><seg089><seg075> <loc0093><loc0355><loc0134><loc0372><seg026><seg004><seg041><seg106><seg086><seg023><seg026><seg022><seg022><seg023><seg106><seg082><seg015><seg041><seg089><seg073>." |
| }, |
| { |
| "ep": 315, |
| "frame_abs": 111837, |
| "t_rel": 40, |
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| "iou": 0.4634482758620692, |
| "cdist_px": 3.569584108292239, |
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| "gen_text": "The gripper is now very close to the yellow-green mug, nearly at contact height, with the mug visibly between the pads; the wrist cam shows the mug's rim and interior clearly with the gripper pads nearly in contact. @grip_now <loc0344><loc0455><loc0376><loc0468><seg023><seg068><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg022><seg097><seg074><seg045><seg073> <loc0306><loc0442><loc0331><loc0454><seg023><seg068><seg114><seg031><seg104><seg048><seg106><seg022><seg022><seg052><seg029><seg022><seg093><seg114><seg093><seg055> shows the pads nearly seated on the mug." |
| }, |
| { |
| "ep": 315, |
| "frame_abs": 111862, |
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| "iou": 0.3750000000000001, |
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| "gen_text": "The gripper is closing around the yellow-green mug, with the pads engaging the cup's sides; the wrist view shows the mug centered between the pads at @grip_now <loc0506><loc0460><loc0538><loc0470><seg066><seg028><seg114><seg031><seg022><seg023><seg106><seg082><seg022><seg064><seg029><seg022><seg109><seg074><seg036><seg035> <loc0491><loc0444><loc0520><loc0455><seg106><seg068><seg114><seg018><seg022><seg061><seg106><seg082><seg022><seg064><seg023><seg022><seg093><seg074><seg051><seg073>." |
| }, |
| { |
| "ep": 315, |
| "frame_abs": 111900, |
| "t_rel": 103, |
| "emitted": true, |
| "iou": 0.05639097744360902, |
| "cdist_px": 7.272753550021378, |
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| "gen_text": "The gripper is holding the yellow-green mug in a closed grip and has moved it to a position above the table, near the white cup; the wrist view shows the mug's open rim and the cup below. The gripper is mid-close, @grip_now <loc0450><loc0511><loc0479><loc0521><seg064><seg008><seg057><seg059><seg022><seg066><seg026><seg022><seg022><seg023><seg037><seg082><seg076><seg041><seg009><seg073> <loc0439><loc0491><loc0467><loc0502><seg106><seg004><seg009><seg106><seg022><seg023><seg023><seg022><seg022><seg048><seg106><seg022><seg058><seg041><seg089><seg099> with pads seated on the mug." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 160966, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 9.118510951794988, |
| "box": [ |
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| "gen_text": "The arm has descended and moved forward; the gripper is open and now positioned above the table surface near the cardboard box, still fully open at @grip_now <loc0636><loc0451><loc0676><loc0460><seg011><seg074><seg052><seg066><seg022><seg028><seg029><seg022><seg022><seg026><seg068><seg022><seg076><seg077><seg060><seg045> <loc0619><loc0399><loc0658><loc0410><seg028><seg074><seg091><seg106><seg022><seg077><seg023><seg022><seg022><seg062><seg028><seg086><seg015><seg091><seg060><seg039>, converging toward the cloth item." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161006, |
| "t_rel": 40, |
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| "iou": 0.0, |
| "cdist_px": 5.024552033423307, |
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| "gen_text": "The gripper is now low and close to the table surface, hovering above the black plastic bag containing the remaining items; the fingers are open and converging on the bag's body, at @grip_now <loc0721><loc0337><loc0751><loc0344><seg074><seg114><seg052><seg092><seg042><seg009><seg023><seg022><seg022><seg026><seg011><seg104><seg015><seg069><seg060><seg003> <loc0750><loc0284><loc0783><loc0292><seg011><seg074><seg077><seg106><seg022><seg077><seg023><seg022><seg042><seg054><seg028><seg104><seg076><seg075><seg060><seg039>." |
| }, |
| { |
| "ep": 458, |
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| "t_rel": 80, |
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| "gen_text": "The gripper is now very close to the table surface, hovering just above the black power cable on the table; the fingers are open and converging on the cable. @grip_now <loc0839><loc0331><loc0869><loc0340><seg106><seg004><seg057><seg071><seg022><seg061><seg029><seg042><seg022><seg066><seg023><seg022><seg109><seg041><seg039><seg075> <loc0893><loc0301><loc0921><loc0311><seg106><seg011><seg114><seg031><seg022><seg023><seg071><seg022><seg022><seg106><seg106><seg022><seg109><seg041><seg044><seg075> is open and converging on the cable." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161068, |
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| "iou": 0.36206896551724127, |
| "cdist_px": 3.375421912971616, |
| "box": [ |
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| "gen_text": "The gripper is closing around the bunched bundle on the table surface; the fingers are partially closed and engaging the fabric, at @grip_now <loc0911><loc0324><loc0933><loc0334><seg077><seg041><seg028><seg048><seg022><seg052><seg066><seg022><seg022><seg061><seg068><seg022><seg076><seg068><seg019><seg051> <loc0943><loc0310><loc0980><loc0319><seg028><seg035><seg028><seg037><seg082><seg062><seg023><seg042><seg104><seg029><seg064><seg022><seg076><seg028><seg019><seg063>, with the bundle visible between the pads in the fingers." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161108, |
| "t_rel": 142, |
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| "iou": 0.0, |
| "cdist_px": 17.85160356707909, |
| "box": [ |
| 0.8260019550342131, |
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| 0.8651026392961877, |
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| "gen_text": "The gripper is closing around the bunched bundle on the table surface at the right side; the fingers are partially closed around the bunched bundle and the arm is nearly stationary. @grip_now <loc0845><loc0322><loc0878><loc0334><seg077><seg041><seg036><seg048><seg104><seg077><seg029><seg042><seg022><seg106><seg064><seg082><seg015><seg009><seg019><seg017> <loc0835><loc0302><loc0869><loc0311><seg077><seg041><seg014><seg092><seg022><seg064><seg026><seg022><seg022><seg062><seg091><seg022><seg015><seg028><seg057><seg093> shows the pads seated against the bunched bundle." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161148, |
| "t_rel": 182, |
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| "iou": 0.10645161290322652, |
| "cdist_px": 9.757971182750802, |
| "box": [ |
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| "gen_text": "The gripper is descending toward the table surface directly over the small bundle, with the fingers beginning to close around the bunched bundle; the pads are in contact with the bunched bundle at @grip_now <loc0702><loc0462><loc0739><loc0477><seg068><seg035><seg114><seg012><seg119><seg106><seg078><seg106><seg055><seg114><seg071><seg022><seg078><seg078><seg015><seg069> <loc0688><loc0455><loc0722><loc0471><seg077><seg035><seg114><seg012><seg119><seg106><seg078><seg073><seg035><seg114><seg071><seg022><seg078><seg078><seg015><seg069>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203818, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 23.215140179430858, |
| "box": [ |
| 0.4398826979472141, |
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| 0.4633431085043988, |
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| 0.48484848484848486, |
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| "gen_text": "The red sports bag with a white lid sits on the table near the center of the table; the gripper is open and has descended to table level, now closer to the red bag, at @grip_now <loc0450><loc0348><loc0474><loc0369><seg026><seg077><seg114><seg031><seg104><seg062><seg026><seg042><seg022><seg064><seg062><seg022><seg093><seg114><seg051><seg075> <loc0407><loc0326><loc0431><loc0346><seg035><seg091><seg078><seg068><seg104><seg029><seg064><seg042><seg090><seg052><seg061><seg022><seg093><seg114><seg093><seg055>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203858, |
| "t_rel": 40, |
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| "iou": 0.48604651162790696, |
| "cdist_px": 2.6030603287731338, |
| "box": [ |
| 0.6226783968719453, |
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| "gt_box": [ |
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| 0.6539589442815249, |
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| ], |
| "gen_text": "The gripper is open and repositioning above the table; the red sports bag and white bag are now beside the gripper on the right side of the table, and the gripper is descending back toward the table surface; @grip_now <loc0637><loc0541><loc0659><loc0562><seg092><seg028><seg114><seg031><seg104><seg061><seg066><seg042><seg022><seg092><seg061><seg022><seg097><seg074><seg051><seg088> <loc0541><loc0536><loc0567><loc0553><seg023><seg028><seg114><seg059><seg086><seg061><seg026><seg042><seg022><seg064><seg029><seg042><seg097><seg074><seg093><seg027> is open." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203898, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 18.66901059488007, |
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| "gt_box": [ |
| 0.7634408602150538, |
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| 0.7917888563049853, |
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| "gen_text": "The gripper is open and the toy bag has been deposited near the robot's pile; the green leaf-shaped object has been placed near the bag; the gripper is descending again toward the target item at @grip_now <loc0774><loc0675><loc0801><loc0695><seg092><seg008><seg057><seg071><seg022><seg066><seg026><seg022><seg022><seg066><seg106><seg082><seg072><seg041><seg089><seg075> <loc0706><loc0673><loc0730><loc0691><seg064><seg004><seg057><seg031><seg022><seg023><seg026><seg042><seg022><seg023><seg026><seg082><seg072><seg041><seg039><seg088>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203917, |
| "t_rel": 99, |
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| "iou": 0.0, |
| "cdist_px": 30.84576256098216, |
| "box": [ |
| 0.7878787878787878, |
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| "gt_box": [ |
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| 0.7898338220918866, |
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| ], |
| "gen_text": "The gripper is open and the pads are converging around the red bag's body, with the bag's white handles visible in the wrist view; the gripper is nearly in contact with the bag, @grip_now <loc0806><loc0687><loc0830><loc0707><seg092><seg004><seg057><seg071><seg022><seg080><seg029><seg082><seg022><seg106><seg023><seg022><seg072><seg041><seg044><seg055> <loc0741><loc0685><loc0762><loc0702><seg026><seg004><seg041><seg106><seg022><seg029><seg023><seg022><seg022><seg026><seg026><seg082><seg098><seg041><seg039><seg088> in a closing configuration around the bag." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203957, |
| "t_rel": 139, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 27.407543679080828, |
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| 0.4252199413489736, |
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| "gt_box": [ |
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| 0.40175953079178883, |
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| "gen_text": "The gripper is at the level of the red bag and handle on the table, having begun to close around the red bag; the bag is near the centre of the table and the grip is tightening at @grip_now <loc0435><loc0557><loc0458><loc0574><seg106><seg028><seg114><seg031><seg022><seg023><seg092><seg042><seg042><seg106><seg106><seg022><seg058><seg074><seg044><seg088> <loc0408><loc0557><loc0429><loc0573><seg052><seg004><seg114><seg043><seg022><seg080><seg026><seg042><seg022><seg064><seg062><seg119><seg005><seg114><seg051><seg055>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203984, |
| "t_rel": 166, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 29.439472288503776, |
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| 0.41837732160312807, |
| 0.5405669599217986, |
| 0.43792766373411535, |
| 0.5542521994134897 |
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| "gt_box": [ |
| 0.3587487781036168, |
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| 0.37927663734115347, |
| 0.5855327468230694 |
| ], |
| "gen_text": "The gripper is partially open and positioned just above the red bag on the table; the wrist view shows the bag and bag surface below, with the gripper beginning to open; the gripper is converging. @grip_now <loc0428><loc0553><loc0448><loc0567><seg106><seg028><seg114><seg018><seg022><seg061><seg106><seg042><seg022><seg064><seg023><seg022><seg051><seg114><seg045><seg075> <loc0403><loc0549><loc0423><loc0563><seg064><seg028><seg078><seg028><seg104><seg026><seg052><seg042><seg119><seg052><seg026><seg082><seg093><seg114><seg093><seg055> shows the fingers starting to spread open." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246200, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.049609059045564785, |
| "cdist_px": 15.94618954980363, |
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| "gt_box": [ |
| 0.20234604105571846, |
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| 0.2873900293255132, |
| 0.2805474095796676 |
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| "gen_text": "The blue notebook is now resting flat on the white tray in the center of the table; the gripper is open and has descended to the level of the notebook, still low near the tray surface, at @grip_now <loc0215><loc0283><loc0261><loc0309><seg026><seg037><seg012><seg004><seg000><seg054><seg077><seg082><seg090><seg068><seg029><seg022><seg044><seg078><seg058><seg055> <loc0190><loc0246><loc0235><loc0268><seg106><seg092><seg012><seg009><seg022><seg026><seg011><seg042><seg022><seg011><seg029><seg042><seg057><seg078><seg095><seg035>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246240, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.17220543806646518, |
| "cdist_px": 7.139168216584478, |
| "box": [ |
| 0.4633431085043988, |
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| "gt_box": [ |
| 0.4780058651026393, |
| 0.4887585532746823, |
| 0.5190615835777126, |
| 0.5004887585532747 |
| ], |
| "gen_text": "The gripper is now very close to the blue notebook on the tray, with the open fingers nearly touching the notebook's cover; the notebook is still lying flat on the tray surface, and the gripper is open and converging from above, at @grip_now <loc0474><loc0506><loc0508><loc0514><seg012><seg074><seg092><seg009><seg114><seg074><seg009><seg023><seg037><seg009><seg057><seg060><seg057><seg088><seg057><seg012> <loc0458><loc0452><loc0492><loc0461><seg012><seg074><seg092><seg009><seg114><seg074><seg009><seg023><seg066><seg009><seg057><seg060><seg089><seg088><seg057><seg012>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246280, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.014851485148514804, |
| "cdist_px": 9.418822444069088, |
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| 0.6578690127077224, |
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| "gt_box": [ |
| 0.6735092864125122, |
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| ], |
| "gen_text": "The gripper holds the blue notebook in a closed grip and is positioned above the white tray area; the notebook is held in the gripper at mid-height, and the gripper is closed at @grip_now <loc0673><loc0532><loc0698><loc0543><seg012><seg074><seg071><seg009><seg041><seg074><seg009><seg023><seg026><seg004><seg057><seg060><seg057><seg072><seg057><seg012> <loc0638><loc0495><loc0662><loc0505><seg078><seg041><seg048><seg017><seg052><seg078><seg075><seg090><seg022><seg052><seg114><seg079><seg109><seg073><seg057><seg078>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246320, |
| "t_rel": 120, |
| "emitted": true, |
| "iou": 0.04918032786885237, |
| "cdist_px": 7.62463343108503, |
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| 0.6695992179863147, |
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| "gt_box": [ |
| 0.6901270772238515, |
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| "gen_text": "The gripper holds the blue notebook firmly in a closed grip and has lifted it off the tray; the notebook is now held in the air above the tray surface, and the gripper is closed at @grip_now <loc0685><loc0517><loc0709><loc0526><seg012><seg074><seg071><seg009><seg041><seg074><seg009><seg023><seg026><seg004><seg057><seg060><seg019><seg072><seg057><seg012> <loc0693><loc0481><loc0718><loc0490><seg012><seg074><seg066><seg011><seg004><seg114><seg044><seg054><seg062><seg004><seg074><seg003><seg039><seg079><seg057><seg012>, at the placement point on the table." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246360, |
| "t_rel": 160, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 9.723421179977034, |
| "box": [ |
| 0.6422287390029325, |
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| "gt_box": [ |
| 0.6529814271749755, |
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| 0.6764418377321603, |
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| "gen_text": "The gripper holds the blue notebook firmly in a closed grip and has lifted it off the tray; the notebook is now held in the air above the tray surface, and the gripper is closed at @grip_now <loc0657><loc0524><loc0679><loc0535><seg012><seg114><seg071><seg009><seg041><seg114><seg009><seg021><seg048><seg004><seg074><seg019><seg057><seg079><seg057><seg012> <loc0687><loc0494><loc0711><loc0505><seg012><seg074><seg092><seg009><seg041><seg074><seg009><seg035><seg026><seg004><seg057><seg060><seg019><seg072><seg057><seg012>, at the placement point on the tray." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246400, |
| "t_rel": 200, |
| "emitted": true, |
| "iou": 0.17307692307692274, |
| "cdist_px": 8.627373489351914, |
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| "gen_text": "The gripper is holding the blue notebook aloft and has moved laterally, positioning the notebook over the near edge of the white tray; the gripper is beginning to open as the book is raised off the tray. @grip_now <loc0557><loc0435><loc0589><loc0445><seg052><seg009><seg057><seg071><seg022><seg092><seg106><seg022><seg022><seg066><seg064><seg082><seg015><seg009><seg089><seg099> <loc0587><loc0409><loc0616><loc0419><seg092><seg004><seg057><seg064><seg022><seg023><seg026><seg022><seg022><seg048><seg092><seg022><seg058><seg041><seg089><seg099> at its current open configuration." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269794, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.5434782608695655, |
| "cdist_px": 1.5738936119318656, |
| "box": [ |
| 0.3939393939393939, |
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| ], |
| "gen_text": "The gripper is now low and close to the toaster, positioned directly in front of the toaster's lever; the toaster's blue indicator lights are on, confirming the lever has been pressed down, and the gripper is beginning to lift away from the toaster body. @grip_now <loc0403><loc0374><loc0448><loc0391><seg077><seg074><seg028><seg026><seg104><seg091><seg029><seg042><seg022><seg026><seg064><seg082><seg065><seg004><seg019><seg069> <loc0374><loc0336><loc0418><loc0350><seg106><seg008><seg009><seg066><seg022><seg066><seg029><seg042><seg022><seg066><seg026><seg082><seg015><seg041><seg089><seg073> is open and converging on the lever." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269834, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 20.42426965285238, |
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| "gt_box": [ |
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| 0.49853372434017595, |
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| ], |
| "gen_text": "The gripper is now directly over the toaster lever, fingers closing around the lever/top; the toaster's silver body sits directly below the gripper, and the red bowl of coffee beans is visible to the left. The gripper is closing further around the toaster lever at @grip_now <loc0474><loc0647><loc0512><loc0654><seg092><seg028><seg078><seg028><seg022><seg066><seg091><seg042><seg022><seg077><seg026><seg082><seg005><seg114><seg093><seg049> <loc0476><loc0598><loc0512><loc0605><seg106><seg068><seg078><seg028><seg022><seg037><seg091><seg042><seg090><seg028><seg026><seg022><seg014><seg114><seg093><seg079>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269843, |
| "t_rel": 49, |
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| "iou": 0.0, |
| "cdist_px": 18.972506606995985, |
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| "gen_text": "The gripper is now very close to the toaster's lever, with the finger pads nearly touching the lever surface at the front of the toaster; the wrist camera shows the gripper pads nearly seated on the lever at @grip_now <loc0498><loc0646><loc0536><loc0654><seg064><seg008><seg057><seg064><seg022><seg066><seg029><seg042><seg086><seg106><seg023><seg022><seg072><seg041><seg014><seg079> <loc0494><loc0611><loc0533><loc0619><seg106><seg011><seg057><seg071><seg086><seg106><seg026><seg082><seg022><seg092><seg026><seg082><seg085><seg074><seg044><seg079>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269883, |
| "t_rel": 89, |
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| "iou": 0.0, |
| "cdist_px": 14.123143339927447, |
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| "gen_text": "The gripper is now at the level of the toaster's lever/top area, with the finger pads in contact and the lever pressed down; the toaster's blue indicator lights are visible on the front face, confirming the lever has been pressed down, and the gripper is beginning to open at @grip_now <loc0611><loc0629><loc0647><loc0636><seg091><seg074><seg028><seg023><seg082><seg077><seg029><seg090><seg082><seg066><seg064><seg042><seg025><seg004><seg019><seg069> <loc0598><loc0603><loc0632><loc0611><seg092><seg009><seg057><seg071><seg022><seg092><seg064><seg086><seg022><seg106><seg091><seg022><seg095><seg009><seg019><seg098>." |
| }, |
| { |
| "ep": 822, |
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| "iou": 0.0, |
| "cdist_px": 13.097328531344813, |
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| "gen_text": "The gripper is now at the level of the toaster's lever, with the finger pads in contact with the toaster's lever/control button on its front face; the wrist camera shows the gripper pads engaging the lever/button on the toaster's side. The toaster remains stationary on the table with the blue indicator lit, @grip_now <loc0585><loc0615><loc0622><loc0625><seg091><seg074><seg009><seg037><seg022><seg091><seg106><seg022><seg022><seg106><seg091><seg022><seg076><seg009><seg019><seg017> <loc0569><loc0583><loc0603><loc0591><seg092><seg008><seg057><seg071><seg022><seg066><seg066><seg022><seg022><seg023><seg064><seg082><seg015><seg009><seg089><seg075> in contact with the lever." |
| }, |
| { |
| "ep": 974, |
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| "iou": 0.27789473684210547, |
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| "gen_text": "The blue chip bag has been released on the counter; the gripper is now open and retreating upward from the bag; the tray now holds the blue chip bag and surrounding items. @grip_now <loc0375><loc0302><loc0420><loc0319><seg023><seg037><seg012><seg084><seg086><seg062><seg028><seg042><seg090><seg028><seg026><seg022><seg044><seg078><seg058><seg021> <loc0387><loc0235><loc0430><loc0255><seg064><seg066><seg078><seg060><seg022><seg029><seg041><seg038><seg022><seg004><seg026><seg022><seg057><seg078><seg095><seg035> is wide open." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 303972, |
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| "iou": 0.0, |
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| "gen_text": "The blue chip bag has been set down on the gray tray; the gripper is open and moving upward and to the right, now positioned above and to the side of the tray, converging toward it. The gripper is open at @grip_now <loc0443><loc0344><loc0486><loc0360><seg106><seg092><seg078><seg009><seg104><seg026><seg011><seg038><seg022><seg011><seg026><seg022><seg089><seg078><seg058><seg021> <loc0462><loc0284><loc0506><loc0302><seg106><seg092><seg012><seg009><seg022><seg026><seg028><seg042><seg022><seg011><seg029><seg042><seg009><seg078><seg072><seg035>." |
| }, |
| { |
| "ep": 974, |
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| "gen_text": "The gripper is fully open and has retracted to a raised position above the tray; the blue chip bag is now resting on the tray surface below and to the right of the gripper at @grip_now <loc0616><loc0365><loc0655><loc0376><seg057><seg073><seg114><seg012><seg049><seg084><seg114><seg078><seg089><seg012><seg114><seg026><seg012><seg074><seg085><seg011> <loc0660><loc0307><loc0700><loc0319><seg060><seg063><seg078><seg078><seg097><seg084><seg057><seg012><seg074><seg078><seg060><seg093><seg012><seg074><seg005><seg004>." |
| }, |
| { |
| "ep": 974, |
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| "gen_text": "The gripper is at the level of the blue chip bag on the tray surface, fingers beginning to close around it; the gripper is nearly at the blue chip bag's body, @grip_now <loc0684><loc0394><loc0715><loc0403><seg091><seg056><seg078><seg012><seg119><seg066><seg012><seg023><seg010><seg114><seg066><seg022><seg078><seg078><seg049><seg069> <loc0717><loc0357><loc0750><loc0367><seg036><seg035><seg114><seg012><seg119><seg052><seg078><seg017><seg075><seg114><seg018><seg082><seg012><seg078><seg049><seg017> in a near-contact contact configuration." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304058, |
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| "iou": 0.2821011673151753, |
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| "gen_text": "The gripper fingers are closing around the blue chip bag on the tray surface, with the bag visible between the pads in the wrist view; the gripper is actively closing on it. @grip_now <loc0686><loc0388><loc0715><loc0398><seg036><seg035><seg114><seg012><seg119><seg091><seg078><seg077><seg075><seg078><seg018><seg022><seg078><seg078><seg015><seg017> <loc0715><loc0360><loc0748><loc0369><seg036><seg021><seg114><seg012><seg090><seg077><seg078><seg017><seg063><seg078><seg091><seg022><seg012><seg114><seg076><seg036> shows the pads closing into a pinch configuration on the bag." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304098, |
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| "iou": 0.34368070953436675, |
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| "gen_text": "The gripper is at the tray surface at a low position, fingers beginning to close around the blue chip bag; the bag is centered between the pads and the fingers are partially closed. @grip_now <loc0607><loc0344><loc0638><loc0354><seg089><seg064><seg074><seg012><seg027><seg074><seg078><seg057><seg078><seg078><seg089><seg023><seg012><seg074><seg095><seg041> <loc0636><loc0318><loc0670><loc0328><seg060><seg014><seg114><seg078>\u2250<seg012><seg074><seg078><seg114><seg078><seg057><seg017><seg012><seg074><seg005><seg009> <loc0645><loc0304><loc0676><loc0313><seg089><seg077><seg074><seg012><seg017><seg074><seg114><seg114><seg012><seg114><seg057><seg017><seg012><seg074><seg005><seg009>; the blue chip bag is seated on the tray." |
| } |
| ], |
| "A_kf-8": [ |
| { |
| "ep": 0, |
| "frame_abs": 32, |
| "t_rel": 32, |
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| "gen_text": "Continue descending toward the yellow cube on the table, swinging the nose to align with the cube body, then begin closing @grip <loc0387><loc0578><loc0430><loc0592><seg064><seg041><seg009><seg037><seg022><seg106><seg092><seg022><seg022><seg023><seg091><seg022><seg076><seg004><seg057><seg017> <loc0371><loc0541><loc0407><loc0555><seg106><seg011><seg057><seg071><seg022><seg048><seg026><seg042><seg022><seg106><seg023><seg042><seg058><seg074><seg045><seg088> to grasp it." |
| }, |
| { |
| "ep": 0, |
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| "gen_text": "Continue descending toward the yellow cube on the table, swinging the nose to align with the cube's sides, while keeping @grip <loc0548><loc0638><loc0585><loc0650><seg028><seg074><seg028><seg037><seg042><seg068><seg106><seg022><seg104><seg066><seg068><seg104><seg065><seg068><seg019><seg051> <loc0520><loc0597><loc0552><loc0610><seg052><seg041><seg014><seg023><seg104><seg106><seg023><seg022><seg022><seg062><seg052><seg042><seg076><seg011><seg019><seg063> open." |
| }, |
| { |
| "ep": 0, |
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| "gen_text": "Close the gripper firmly around the yellow cube @grip <loc0578><loc0633><loc0611><loc0643><seg052><seg041><seg044><seg106><seg104><seg106><seg029><seg082><seg022><seg029><seg092><seg082><seg015><seg004><seg019><seg069> <loc0560><loc0605><loc0592><loc0615><seg052><seg041><seg009><seg071><seg022><seg052><seg023><seg042><seg022><seg064><seg066><seg082><seg015><seg074><seg009><seg055>, then lift upward to clear the table surface before transporting toward the white plastic storage bin." |
| }, |
| { |
| "ep": 0, |
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| "iou": 0.12396694214876013, |
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| "gen_text": "Close the gripper firmly around the yellow cube @grip <loc0586><loc0629><loc0618><loc0639><seg052><seg041><seg044><seg106><seg104><seg092><seg026><seg022><seg022><seg062><seg091><seg022><seg076><seg011><seg019><seg017> <loc0569><loc0603><loc0598><loc0613><seg052><seg041><seg009><seg071><seg022><seg052><seg023><seg042><seg022><seg106><seg092><seg082><seg015><seg009><seg089><seg075>, then lift upward to clear the table surface before transporting." |
| }, |
| { |
| "ep": 0, |
| "frame_abs": 154, |
| "t_rel": 154, |
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| "iou": 0.0, |
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| "gen_text": "Close the gripper firmly around the yellow cube @grip <loc0494><loc0559><loc0524><loc0569><seg064><seg011><seg114><seg077><seg022><seg066><seg064><seg042><seg090><seg064><seg106><seg082><seg109><seg074><seg039><seg088> <loc0486><loc0543><loc0512><loc0553><seg106><seg028><seg114><seg018><seg086><seg066><seg064><seg022><seg022><seg091><seg026><seg042><seg093><seg114><seg051><seg055>, securing a grip on it before lifting." |
| }, |
| { |
| "ep": 209, |
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| "t_rel": 32, |
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| "iou": 0.0, |
| "cdist_px": 27.46040248428133, |
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| "gen_text": "Continue descending and begin closing the gripper around the white terry towel on the table, seating the pads on the fabric @grip <loc0460><loc0485><loc0489><loc0499><seg004><seg074><seg052><seg106><seg042><seg028><seg023><seg022><seg104><seg117><seg028><seg104><seg065><seg092><seg019><seg045> <loc0508><loc0493><loc0532><loc0509><seg004><seg074><seg052><seg026><seg022><seg068><seg023><seg022><seg022><seg020><seg028><seg104><seg015><seg052><seg060><seg039>." |
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| { |
| "ep": 209, |
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| "gen_text": "Continue descending and aligning the open gripper over the white terry towel on the black table, fingers converging to either side of it @grip <loc0589><loc0363><loc0622><loc0380><seg077><seg041><seg063><seg048><seg104><seg052><seg104><seg054><seg042><seg061><seg106><seg082><seg025><seg011><seg019><seg069> <loc0675><loc0363><loc0709><loc0380><seg091><seg041><seg068><seg026><seg022><seg064><seg029><seg104><seg022><seg062><seg052><seg022><seg076><seg028><seg019><seg063>." |
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| { |
| "ep": 209, |
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| "iou": 0.0, |
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| "gen_text": "Continue closing the gripper firmly onto the white terry towel and begin lifting upward, then carry the cloth toward the center of the table to place it onto the pink cloth at @grip <loc0857><loc0264><loc0890><loc0287><seg064><seg009><seg009><seg071><seg022><seg106><seg062><seg082><seg022><seg106><seg023><seg022><seg072><seg041><seg044><seg073> <loc0937><loc0253><loc0975><loc0276><seg092><seg004><seg009><seg064><seg022><seg026><seg023><seg042><seg022><seg023><seg066><seg022><seg072><seg041><seg089><seg075>." |
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| { |
| "ep": 209, |
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| "gen_text": "Close the gripper firmly around the white terry towel and begin lifting upward, then swing the arm toward the pink cloth target; @grip <loc0833><loc0322><loc0860><loc0344><seg023><seg068><seg114><seg031><seg086><seg061><seg066><seg042><seg022><seg064><seg023><seg022><seg093><seg114><seg051><seg075> <loc0900><loc0312><loc0924><loc0333><seg073><seg068><seg078><seg043><seg022><seg117><seg092><seg082><seg022><seg092><seg023><seg042><seg098><seg074><seg051><seg027> should reach a clear cloth for the next grasp." |
| }, |
| { |
| "ep": 209, |
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| "iou": 0.0, |
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| "gen_text": "Open the gripper to release the white terry towel onto the table at @grip <loc0448><loc0345><loc0483><loc0364><seg106><seg011><seg057><seg071><seg086><seg048><seg023><seg042><seg022><seg092><seg023><seg022><seg109><seg041><seg045><seg088> <loc0479><loc0334><loc0512><loc0354><seg066><seg011><seg057><seg071><seg104><seg061><seg023><seg042><seg022><seg106><seg023><seg082><seg109><seg074><seg045><seg088>, then retract the arm to a clear position." |
| }, |
| { |
| "ep": 315, |
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| "gen_text": "Continue descending toward the yellow-green mug, swinging the nose to align with the mug's body, keeping the gripper open @grip <loc0380><loc0453><loc0411><loc0467><seg023><seg068><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg022><seg097><seg074><seg051><seg079> <loc0344><loc0436><loc0369><loc0449><seg023><seg068><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg022><seg097><seg074><seg045><seg079> as you drop into the mug's interior." |
| }, |
| { |
| "ep": 315, |
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| "iou": 0.04128440366972477, |
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| "gen_text": "Close the gripper firmly to secure the yellow-green mug, seating both pads firmly on either side of the mug body \u2014 @grip <loc0527><loc0456><loc0558><loc0467><seg066><seg028><seg114><seg031><seg022><seg023><seg106><seg042><seg022><seg064><seg023><seg022><seg005><seg074><seg051><seg079> <loc0512><loc0443><loc0538><loc0453><seg073><seg068><seg114><seg091><seg104><seg117><seg092><seg082><seg022><seg106><seg026><seg082><seg098><seg074><seg045><seg079>." |
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| { |
| "ep": 315, |
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| 0.45454545454545453, |
| 0.5151515151515151 |
| ], |
| "gen_text": "Open the gripper fully at @grip <loc0443><loc0519><loc0473><loc0530><seg064><seg004><seg057><seg059><seg022><seg066><seg023><seg042><seg022><seg106><seg026><seg082><seg072><seg041><seg044><seg073> <loc0427><loc0498><loc0458><loc0508><seg106><seg028><seg114><seg018><seg022><seg061><seg064><seg022><seg022><seg106><seg106><seg022><seg109><seg074><seg039><seg088> to release the yellow-green mug onto the white cup, then lift the arm clear of the cup." |
| }, |
| { |
| "ep": 315, |
| "frame_abs": 111899, |
| "t_rel": 102, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 9.028469920310704, |
| "box": [ |
| 0.42130987292277616, |
| 0.5073313782991202, |
| 0.4506353861192571, |
| 0.5180840664711632 |
| ], |
| "gt_box": [ |
| 0.4027370478983382, |
| 0.4965786901270772, |
| 0.4389051808406647, |
| 0.5063538611925709 |
| ], |
| "gen_text": "Open the gripper fully at @grip <loc0431><loc0519><loc0461><loc0530><seg064><seg004><seg057><seg059><seg022><seg066><seg023><seg042><seg022><seg106><seg026><seg082><seg072><seg041><seg044><seg073> <loc0416><loc0498><loc0446><loc0508><seg106><seg028><seg114><seg018><seg022><seg061><seg064><seg022><seg022><seg106><seg106><seg022><seg109><seg074><seg039><seg088> to release the yellow-green mug onto the white cup, then lift the arm clear of the cup." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 160998, |
| "t_rel": 32, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 8.056093234624415, |
| "box": [ |
| 0.7047898338220919, |
| 0.3235581622678397, |
| 0.7370478983382209, |
| 0.3313782991202346 |
| ], |
| "gt_box": [ |
| 0.7067448680351907, |
| 0.3362658846529814, |
| 0.7458455522971652, |
| 0.34310850439882695 |
| ], |
| "gen_text": "Continue descending and swinging the nose toward the bunched bundle on the table, maintaining the open @grip <loc0721><loc0331><loc0754><loc0339><seg023><seg028><seg078><seg068><seg086><seg106><seg052><seg022><seg090><seg091><seg066><seg082><seg093><seg114><seg051><seg055> <loc0748><loc0279><loc0783><loc0287><seg052><seg028><seg078><seg028><seg022><seg048><seg052><seg042><seg022><seg091><seg061><seg022><seg093><seg114><seg093><seg035> as you close the horizontal gap." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161038, |
| "t_rel": 72, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 22.749778112888208, |
| "box": [ |
| 0.8719452590420332, |
| 0.3362658846529814, |
| 0.9002932551319648, |
| 0.3460410557184751 |
| ], |
| "gt_box": [ |
| 0.8406647116324536, |
| 0.30498533724340177, |
| 0.8748778103616813, |
| 0.31378299120234604 |
| ], |
| "gen_text": "Close the gripper firmly around the bunched bunched bundle on the table @grip <loc0892><loc0344><loc0921><loc0354><seg012><seg074><seg052><seg074><seg114><seg074><seg057><seg075><seg064><seg057><seg057><seg114><seg019><seg098><seg074><seg012> <loc0917><loc0328><loc0947><loc0337><seg012><seg074><seg052><seg057><seg114><seg074><seg057><seg073><seg064><seg057><seg057><seg060><seg019><seg099><seg057><seg012>, completing the grasp before lifting." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161060, |
| "t_rel": 94, |
| "emitted": true, |
| "iou": 0.5371702637889688, |
| "cdist_px": 1.3580101651465977, |
| "box": [ |
| 0.8973607038123167, |
| 0.31671554252199413, |
| 0.9247311827956989, |
| 0.32746823069403713 |
| ], |
| "gt_box": [ |
| 0.8914956011730205, |
| 0.3196480938416422, |
| 0.927663734115347, |
| 0.3284457478005865 |
| ], |
| "gen_text": "Close the gripper firmly around the bunched bunched bundle on the table, seating both pads onto the fabric \u2014 @grip <loc0918><loc0324><loc0946><loc0335><seg012><seg074><seg052><seg074><seg114><seg074><seg057><seg075><seg064><seg057><seg057><seg114><seg019><seg098><seg074><seg012> <loc0955><loc0309><loc0991><loc0319><seg012><seg074><seg064><seg057><seg114><seg074><seg009><seg073><seg106><seg057><seg057><seg060><seg019><seg099><seg057><seg012> closed around the bundle." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161100, |
| "t_rel": 134, |
| "emitted": false, |
| "iou": null, |
| "cdist_px": null, |
| "box": null, |
| "gt_box": [ |
| 0.8240469208211144, |
| 0.28641251221896386, |
| 0.8651026392961877, |
| 0.2991202346041056 |
| ], |
| "gen_text": "Continue transporting the" |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161140, |
| "t_rel": 174, |
| "emitted": true, |
| "iou": 0.11285266457680339, |
| "cdist_px": 10.939128353044037, |
| "box": [ |
| 0.6823069403714564, |
| 0.45943304007820135, |
| 0.7223851417399805, |
| 0.47409579667644186 |
| ], |
| "gt_box": [ |
| 0.6578690127077224, |
| 0.44281524926686217, |
| 0.696969696969697, |
| 0.47116324535679377 |
| ], |
| "gen_text": "Open the gripper to release the bundle at @grip <loc0698><loc0470><loc0739><loc0485><seg091><seg035><seg078><seg012><seg119><seg023><seg078><seg026><seg104><seg114><seg066><seg022><seg078><seg078><seg015><seg069> <loc0677><loc0460><loc0714><loc0475><seg052><seg055><seg078><seg078><seg119><seg026><seg078><seg061><seg104><seg074><seg026><seg022><seg114><seg078><seg015><seg075>, then reposition laterally across the table toward the next target object." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203850, |
| "t_rel": 32, |
| "emitted": true, |
| "iou": 0.5391705069124423, |
| "cdist_px": 2.871172590527594, |
| "box": [ |
| 0.6207233626588465, |
| 0.5288367546432062, |
| 0.64613880742913, |
| 0.5483870967741935 |
| ], |
| "gt_box": [ |
| 0.6207233626588465, |
| 0.530791788856305, |
| 0.6539589442815249, |
| 0.5542521994134897 |
| ], |
| "gen_text": "Continue descending onto the red sports bag and close the fingers to grasp it at @grip <loc0635><loc0541><loc0661><loc0561><seg026><seg091><seg078><seg028><seg086><seg026><seg077><seg042><seg119><seg068><seg061><seg082><seg051><seg114><seg097><seg035> <loc0547><loc0533><loc0576><loc0550><seg066><seg091><seg078><seg011><seg022><seg061><seg077><seg082><seg022><seg068><seg023><seg022><seg045><seg114><seg097><seg055>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203890, |
| "t_rel": 72, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 22.26214035064863, |
| "box": [ |
| 0.7487781036168133, |
| 0.6549364613880743, |
| 0.7761485826001955, |
| 0.6744868035190615 |
| ], |
| "gt_box": [ |
| 0.7634408602150538, |
| 0.6871945259042033, |
| 0.7917888563049853, |
| 0.7096774193548387 |
| ], |
| "gen_text": "Close the gripper firmly around the red sports bag's body to secure a grasp, then begin lifting upward; target @grip <loc0766><loc0670><loc0794><loc0690><seg055><seg091><seg078><seg028><seg104><seg117><seg052><seg042><seg022><seg068><seg038><seg054><seg014><seg114><seg099><seg035> <loc0702><loc0672><loc0725><loc0691><seg023><seg077><seg078><seg018><seg086><seg061><seg092><seg082><seg022><seg091><seg061><seg022><seg045><seg114><seg093><seg055> closed on the bag." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203909, |
| "t_rel": 91, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 31.29291666487438, |
| "box": [ |
| 0.7663734115347018, |
| 0.6686217008797654, |
| 0.7917888563049853, |
| 0.6891495601173021 |
| ], |
| "gt_box": [ |
| 0.7634408602150538, |
| 0.7174975562072337, |
| 0.7898338220918866, |
| 0.7380254154447703 |
| ], |
| "gen_text": "Close the gripper fully onto the red sports bag and lift upward to extract it from the table surface; @grip <loc0784><loc0684><loc0810><loc0705><seg023><seg077><seg114><seg052><seg104><seg117><seg092><seg082><seg022><seg064><seg023><seg022><seg093><seg114><seg051><seg073> <loc0728><loc0680><loc0751><loc0699><seg055><seg068><seg114><seg091><seg022><seg048><seg026><seg042><seg022><seg064><seg038><seg022><seg005><seg074><seg093><seg055> should seat both pads on the bag's body before lifting." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203949, |
| "t_rel": 131, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 42.62916125473377, |
| "box": [ |
| 0.44281524926686217, |
| 0.5219941348973607, |
| 0.4633431085043988, |
| 0.5386119257086999 |
| ], |
| "gt_box": [ |
| 0.37732160312805474, |
| 0.5777126099706745, |
| 0.40175953079178883, |
| 0.5953079178885631 |
| ], |
| "gen_text": "Open the gripper fully to release the red sports bag and retract upward away from the table surface at @grip <loc0453><loc0534><loc0474><loc0551><seg106><seg068><seg078><seg077><seg022><seg048><seg092><seg082><seg119><seg052><seg023><seg022><seg093><seg074><seg051><seg073> <loc0419><loc0533><loc0444><loc0549><seg023><seg028><seg114><seg091><seg086><seg061><seg092><seg022><seg022><seg052><seg026><seg082><seg016><seg074><seg045><seg088>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203976, |
| "t_rel": 158, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 21.296093547811147, |
| "box": [ |
| 0.3343108504398827, |
| 0.541544477028348, |
| 0.3548387096774194, |
| 0.5562072336265884 |
| ], |
| "gt_box": [ |
| 0.3587487781036168, |
| 0.5728250244379277, |
| 0.37927663734115347, |
| 0.5855327468230694 |
| ], |
| "gen_text": "Open the gripper fully to release the red sports bag and retract upward away from the bag at @grip <loc0342><loc0554><loc0363><loc0569><seg106><seg011><seg114><seg031><seg086><seg066><seg106><seg022><seg022><seg052><seg026><seg022><seg093><seg114><seg045><seg088> <loc0324><loc0544><loc0346><loc0558><seg026><seg068><seg114><seg052><seg104><seg061><seg026><seg042><seg022><seg064><seg023><seg022><seg093><seg114><seg045><seg099>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246232, |
| "t_rel": 32, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 20.795986654813646, |
| "box": [ |
| 0.436950146627566, |
| 0.4682306940371456, |
| 0.4750733137829912, |
| 0.47702834799608995 |
| ], |
| "gt_box": [ |
| 0.4780058651026393, |
| 0.4887585532746823, |
| 0.5190615835777126, |
| 0.5004887585532747 |
| ], |
| "gen_text": "Continue descending toward the blue notebook, swinging the nose to align with the notebook's flat face, keeping the gripper open at @grip <loc0447><loc0479><loc0486><loc0488><seg023><seg028><seg078><seg018><seg086><seg106><seg064><seg022><seg022><seg068><seg026><seg022><seg051><seg114><seg051><seg073> <loc0452><loc0424><loc0490><loc0434><seg092><seg011><seg078><seg068><seg086><seg037><seg052><seg082><seg022><seg077><seg026><seg022><seg093><seg114><seg036><seg055> as you align the pads with the notebook's flat faces." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246272, |
| "t_rel": 72, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 19.291908714522922, |
| "box": [ |
| 0.6207233626588465, |
| 0.520039100684262, |
| 0.6471163245356794, |
| 0.5288367546432062 |
| ], |
| "gt_box": [ |
| 0.6735092864125122, |
| 0.5043988269794721, |
| 0.6930596285434996, |
| 0.5210166177908113 |
| ], |
| "gen_text": "Continue lifting the blue notebook upward and then rotate it the wrist to orient the notebook for placement, maintaining the closed grip @grip <loc0635><loc0532><loc0662><loc0541><seg012><seg041><seg064><seg009><seg074><seg074><seg074><seg088><seg075><seg009><seg089><seg078><seg019><seg098><seg074><seg012> <loc0598><loc0499><loc0626><loc0509><seg012><seg074><seg052><seg009><seg114><seg074><seg009><seg055><seg106><seg009><seg057><seg060><seg019><seg099><seg057><seg012>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246312, |
| "t_rel": 112, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 11.194837284993673, |
| "box": [ |
| 0.6559139784946236, |
| 0.5043988269794721, |
| 0.6862170087976539, |
| 0.5141739980449658 |
| ], |
| "gt_box": [ |
| 0.6901270772238515, |
| 0.4995112414467253, |
| 0.7135874877810362, |
| 0.5141739980449658 |
| ], |
| "gen_text": "Continue transporting the blue notebook horizontally toward the right of the tray while maintaining the closed grip @grip <loc0671><loc0516><loc0702><loc0526><seg012><seg114><seg071><seg057><seg074><seg074><seg009><seg023><seg048><seg009><seg057><seg060><seg019><seg072><seg057><seg012> <loc0673><loc0483><loc0704><loc0493><seg012><seg074><seg048><seg044><seg009><seg114><seg044><seg054><seg062><seg004><seg074><seg003><seg039><seg079><seg057><seg012>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246352, |
| "t_rel": 152, |
| "emitted": true, |
| "iou": 0.1411764705882353, |
| "cdist_px": 5.953873659479866, |
| "box": [ |
| 0.6559139784946236, |
| 0.5073313782991202, |
| 0.6842619745845552, |
| 0.5180840664711632 |
| ], |
| "gt_box": [ |
| 0.6529814271749755, |
| 0.4965786901270772, |
| 0.6764418377321603, |
| 0.5112414467253177 |
| ], |
| "gen_text": "Continue transporting the blue notebook horizontally toward the right of the tray while maintaining the closed grip @grip <loc0671><loc0519><loc0700><loc0530><seg012><seg114><seg092><seg009><seg041><seg114><seg009><seg021><seg048><seg009><seg057><seg060><seg057><seg072><seg057><seg012> <loc0675><loc0487><loc0707><loc0498><seg012><seg074><seg064><seg009><seg041><seg074><seg009><seg035><seg026><seg004><seg057><seg060><seg019><seg072><seg057><seg012>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246392, |
| "t_rel": 192, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 8.870944852386922, |
| "box": [ |
| 0.5630498533724341, |
| 0.43792766373411535, |
| 0.5972629521016618, |
| 0.44868035190615835 |
| ], |
| "gt_box": [ |
| 0.5650048875855328, |
| 0.4252199413489736, |
| 0.603128054740958, |
| 0.4340175953079179 |
| ], |
| "gen_text": "Open the gripper fully to release the blue notebook into the book, then retract the arm upward and away from the book at @grip <loc0576><loc0448><loc0611><loc0459><seg012><seg114><seg071><seg057><seg074><seg074><seg009><seg021><seg066><seg009><seg057><seg060><seg019><seg099><seg057><seg012> <loc0587><loc0416><loc0618><loc0427><seg012><seg114><seg037><seg057><seg114><seg041><seg044><seg023><seg023><seg074><seg074><seg019><seg039><seg075><seg057><seg012>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269826, |
| "t_rel": 32, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 32.71781151672338, |
| "box": [ |
| 0.4222873900293255, |
| 0.6158357771260997, |
| 0.47214076246334313, |
| 0.6226783968719453 |
| ], |
| "gt_box": [ |
| 0.45454545454545453, |
| 0.6647116324535679, |
| 0.49853372434017595, |
| 0.6705767350928641 |
| ], |
| "gen_text": "Continue lifting and retracting the open gripper clear of the toaster to complete the release and return to a neutral position \u2014 @grip <loc0432><loc0630><loc0483><loc0637><seg077><seg074><seg036><seg048><seg104><seg077><seg029><seg082><seg022><seg066><seg052><seg082><seg065><seg004><seg019><seg017> <loc0430><loc0564><loc0476><loc0573><seg052><seg041><seg009><seg106><seg022><seg052><seg106><seg086><seg022><seg066><seg091><seg022><seg015><seg004><seg057><seg097>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269835, |
| "t_rel": 41, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 39.08688417273261, |
| "box": [ |
| 0.5620723362658846, |
| 0.624633431085044, |
| 0.5992179863147605, |
| 0.6314760508308895 |
| ], |
| "gt_box": [ |
| 0.47214076246334313, |
| 0.6598240469208211, |
| 0.5141739980449658, |
| 0.6686217008797654 |
| ], |
| "gen_text": "Continue descending and closing the fingers around the toaster lever, pitching the nose down to seat the pads on either side of the lever shaft; target @grip <loc0575><loc0639><loc0613><loc0646><seg092><seg008><seg057><seg071><seg022><seg092><seg092><seg086><seg022><seg106><seg052><seg042><seg085><seg041><seg019><seg098> <loc0569><loc0595><loc0606><loc0603><seg092><seg011><seg057><seg052><seg104><seg048><seg023><seg042><seg022><seg106><seg023><seg022><seg098><seg074><seg045><seg088> closing onto the lever." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269875, |
| "t_rel": 81, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 16.936340763636075, |
| "box": [ |
| 0.5835777126099707, |
| 0.6089931573802542, |
| 0.6217008797653959, |
| 0.6177908113391984 |
| ], |
| "gt_box": [ |
| 0.5874877810361682, |
| 0.6363636363636364, |
| 0.624633431085044, |
| 0.6432062561094819 |
| ], |
| "gen_text": "Open the gripper fully to release the toaster lever and lift the arm upward and backward away from the toaster; spread the fingers wide so the pads seat against the lever surface, then begin lifting the arm upward and backward. @grip <loc0597><loc0623><loc0636><loc0632><seg092><seg008><seg057><seg071><seg022><seg092><seg026><seg022><seg022><seg064><seg106><seg042><seg109><seg074><seg039><seg088> <loc0585><loc0596><loc0622><loc0605><seg092><seg004><seg057><seg064><seg022><seg048><seg023><seg042><seg022><seg026><seg026><seg082><seg072><seg041><seg044><seg073>" |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269884, |
| "t_rel": 90, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 14.887864729039817, |
| "box": [ |
| 0.5962854349951124, |
| 0.6089931573802542, |
| 0.6324535679374389, |
| 0.6177908113391984 |
| ], |
| "gt_box": [ |
| 0.5610948191593352, |
| 0.6226783968719453, |
| 0.5972629521016618, |
| 0.6285434995112414 |
| ], |
| "gen_text": "Open the gripper fully to release the toaster lever and lift the arm upward and backward away from the toaster; transition to @grip <loc0610><loc0623><loc0647><loc0632><seg077><seg074><seg004><seg048><seg104><seg052><seg106><seg022><seg104><seg023><seg068><seg104><seg065><seg028><seg019><seg051> <loc0592><loc0596><loc0626><loc0606><seg091><seg041><seg011><seg066><seg022><seg064><seg026><seg082><seg022><seg066><seg091><seg082><seg015><seg009><seg019><seg017> open as the arm withdraws." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269912, |
| "t_rel": 118, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 37.782269109436726, |
| "box": [ |
| 0.43010752688172044, |
| 0.5327468230694037, |
| 0.4858260019550342, |
| 0.5434995112414467 |
| ], |
| "gt_box": [ |
| 0.501466275659824, |
| 0.5738025415444771, |
| 0.5669599217986315, |
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| "gen_text": "Continue lifting and retracting the open gripper clear of the toaster to complete the release and return to a neutral position @grip <loc0440><loc0545><loc0497><loc0556><seg026><seg091><seg078><seg028><seg022><seg023><seg077><seg042><seg022><seg077><seg026><seg082><seg051><seg114><seg093><seg055> <loc0441><loc0485><loc0493><loc0496><seg026><seg091><seg078><seg028><seg022><seg061><seg091><seg082><seg022><seg068><seg062><seg042><seg045><seg114><seg098><seg055>." |
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| "gen_text": "Continue descending toward the blue chip bag on the tray, swinging the nose slightly to align the finger-line across the bag's body; keep @grip <loc0391><loc0384><loc0436><loc0399><seg036><seg026><seg074><seg012><seg119><seg028><seg078><seg051><seg063><seg078><seg011><seg082><seg012><seg114><seg015><seg017> <loc0417><loc0316><loc0464><loc0331><seg028><seg035><seg114><seg012><seg119><seg052><seg078><seg017><seg099><seg114><seg031><seg082><seg012><seg078><seg027><seg017> open as the approach converges on the bag." |
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| "gen_text": "Continue descending toward the blue chip bag, swinging the nose to align with the bag's body while keeping the gripper open @grip <loc0578><loc0390><loc0618><loc0400><seg036><seg026><seg074><seg012><seg119><seg028><seg078><seg063><seg036><seg078><seg077><seg022><seg012><seg114><seg030><seg014> <loc0611><loc0331><loc0655><loc0343><seg044><seg035><seg074><seg012><seg119><seg028><seg078><seg089><seg051><seg078><seg008><seg120><seg012><seg114><seg015><seg063>." |
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| "gen_text": "Open the gripper fully to release the blue chip bag onto the counter surface, then begin lifting the arm away from the bag at @grip <loc0618><loc0357><loc0652><loc0368><seg045><seg021><seg074><seg012><seg086><seg108><seg078><seg044><seg014><seg078><seg011><seg082><seg012><seg074><seg076><seg028> <loc0647><loc0330><loc0681><loc0341><seg044><seg035><seg074><seg012><seg086><seg028><seg078><seg089><seg014><seg078><seg011><seg042><seg012><seg074><seg076><seg014>." |
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| "gen_text": "Continue descending toward the yellow cube on the table, swinging the nose to align with the cube body, gripper open at @grip <loc0368><loc0573><loc0412><loc0588><seg064><seg041><seg009><seg037><seg022><seg106><seg023><seg022><seg022><seg023><seg092><seg022><seg015><seg009><seg089><seg099> <loc0353><loc0532><loc0392><loc0547><seg106><seg004><seg009><seg092><seg022><seg026><seg026><seg022><seg022><seg023><seg106><seg022><seg015><seg009><seg089><seg088>." |
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| "gen_text": "Continue descending toward the yellow cube on the table, swinging the nose to align with the cube's sides, keeping @grip <loc0553><loc0638><loc0587><loc0649><seg052><seg041><seg044><seg066><seg022><seg106><seg054><seg038><seg022><seg023><seg066><seg082><seg015><seg009><seg089><seg092> <loc0527><loc0598><loc0557><loc0610><seg052><seg041><seg009><seg071><seg022><seg052><seg023><seg022><seg022><seg052><seg066><seg082><seg058><seg074><seg089><seg088> open." |
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| "gen_text": "Close the gripper firmly around the yellow cube @grip <loc0578><loc0623><loc0611><loc0632><seg052><seg041><seg044><seg106><seg104><seg092><seg026><seg022><seg022><seg062><seg091><seg022><seg076><seg011><seg019><seg017> <loc0563><loc0599><loc0595><loc0609><seg052><seg041><seg009><seg071><seg022><seg064><seg106><seg022><seg022><seg026><seg052><seg082><seg015><seg009><seg019><seg017>, then lift upward to transport the cube over to the white plastic storage bin." |
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| "gen_text": "Close the gripper firmly around the yellow cube @grip <loc0573><loc0625><loc0603><loc0635><seg052><seg041><seg044><seg037><seg022><seg064><seg023><seg022><seg022><seg066><seg092><seg042><seg015><seg009><seg019><seg069> <loc0559><loc0603><loc0587><loc0613><seg064><seg041><seg009><seg066><seg022><seg064><seg023><seg082><seg022><seg064><seg066><seg082><seg072><seg074><seg089><seg088>, completing the grasp before lifting." |
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| "gen_text": "Lift the yellow cube upward and swing laterally toward the white plastic storage bin while maintaining the closed hold @grip <loc0532><loc0543><loc0563><loc0555><seg028><seg074><seg077><seg037><seg042><seg068><seg023><seg022><seg022><seg026><seg068><seg022><seg047><seg028><seg019><seg045> <loc0517><loc0528><loc0543><loc0538><seg068><seg074><seg068><seg066><seg104><seg077><seg026><seg022><seg022><seg026><seg068><seg104><seg015><seg028><seg019><seg051>,Action \u2014 pitch the wrist slightly as you adjust approach angle." |
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| "gen_text": "Continue descending and moving horizontally toward the white terry towel, aligning the open gripper fingers around the cloth fabric; maintain @grip <loc0353><loc0597><loc0378><loc0613><seg009><seg114><seg052><seg106><seg042><seg028><seg023><seg022><seg022><seg029><seg011><seg104><seg070><seg017><seg060><seg003> <loc0394><loc0597><loc0422><loc0615><seg009><seg074><seg092><seg106><seg042><seg011><seg062><seg022><seg022><seg023><seg028><seg022><seg070><seg077><seg060><seg039> open for the next approach." |
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| "gen_text": "Continue descending and converging the gripper onto the white terry towel fabric, aligning the finger pads to contact the fabric at @grip <loc0498><loc0491><loc0528><loc0506><seg004><seg074><seg052><seg106><seg042><seg028><seg029><seg022><seg022><seg023><seg068><seg104><seg015><seg068><seg019><seg045> <loc0577><loc0504><loc0606><loc0521><seg004><seg074><seg052><seg026><seg022><seg028><seg023><seg022><seg022><seg023><seg028><seg104><seg076><seg091><seg060><seg045>." |
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| "gen_text": "Continue descending and aligning the open gripper over the white terry towel on the black table, converging the fingers to either side of it @grip <loc0723><loc0264><loc0761><loc0282><seg028><seg074><seg028><seg037><seg082><seg091><seg029><seg022><seg042><seg061><seg052><seg022><seg030><seg068><seg019><seg063> <loc0813><loc0248><loc0845><loc0270><seg091><seg041><seg036><seg026><seg022><seg092><seg029><seg104><seg022><seg062><seg064><seg042><seg076><seg028><seg019><seg063>." |
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| "gen_text": "Close the gripper firmly around the white terry towel and begin lifting upward, then swing the arm toward the pink cloth target; @grip <loc0833><loc0243><loc0863><loc0266><seg064><seg011><seg057><seg059><seg022><seg023><seg061><seg082><seg022><seg106><seg023><seg022><seg109><seg041><seg045><seg075> <loc0904><loc0231><loc0933><loc0255><seg064><seg004><seg057><seg031><seg022><seg023><seg026><seg082><seg022><seg066><seg026><seg022><seg058><seg041><seg045><seg088> should be fully closed." |
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| "gen_text": "Close the gripper firmly around the white terry towel and begin lifting upward, then swing the arm toward the pink cloth target; @grip <loc0833><loc0322><loc0860><loc0344><seg023><seg068><seg114><seg031><seg086><seg061><seg066><seg042><seg022><seg052><seg029><seg022><seg093><seg114><seg093><seg055> <loc0888><loc0318><loc0913><loc0340><seg092><seg068><seg114><seg043><seg022><seg048><seg092><seg082><seg022><seg052><seg023><seg022><seg093><seg114><seg093><seg055> should be fully closed." |
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| { |
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| "gen_text": "Open the gripper fully to release the white terry towel onto the table at @grip <loc0604><loc0349><loc0638><loc0371><seg077><seg074><seg017><seg023><seg042><seg052><seg023><seg022><seg022><seg061><seg091><seg022><seg076><seg028><seg019><seg063> <loc0630><loc0339><loc0662><loc0361><seg077><seg041><seg063><seg023><seg022><seg052><seg054><seg104><seg022><seg061><seg064><seg042><seg076><seg011><seg019><seg017>, then lift and retract the arm to a clear clear position above the table." |
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| { |
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| "gen_text": "Continue descending\ud83c\udd44<seg074><seg074><seg037><seg092><seg062><seg009><seg023><seg022><seg104><seg026><seg004><seg086><seg070><seg075><seg060><seg019> \n. Press the yellow-green mug against the white cup with the pads pressed flat to seat it, seating it on the cup. 7. Release the yellow-green mug by opening the fingers fully, letting it settle on top of the cup. 8. Retract the open gripper upward and away from the cup to clear the workspace." |
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| { |
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| "gen_text": "Continue descending toward the yellow-green mug, swinging the nose to align with the mug's body, keeping the gripper open @grip <loc0386><loc0453><loc0419><loc0466><seg023><seg068><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg022><seg097><seg074><seg051><seg073> <loc0355><loc0432><loc0379><loc0446><seg023><seg068><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg022><seg097><seg074><seg045><seg079> as you drop into the mug's interior." |
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| "gen_text": "Close the gripper firmly to secure the yellow-green mug, seating both finger pads firmly on either side of the mug body; achieve a secure hold @grip <loc0506><loc0460><loc0538><loc0471><seg066><seg028><seg114><seg031><seg086><seg066><seg092><seg022><seg022><seg064><seg026><seg042><seg109><seg074><seg051><seg079> <loc0494><loc0447><loc0526><loc0457><seg066><seg028><seg114><seg059><seg104><seg061><seg026><seg022><seg022><seg092><seg054><seg022><seg098><seg074><seg036><seg055>." |
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| "gen_text": "Open the gripper fully at @grip <loc0431><loc0519><loc0461><loc0530><seg064><seg004><seg057><seg059><seg022><seg066><seg023><seg042><seg022><seg106><seg026><seg082><seg072><seg041><seg044><seg073> <loc0417><loc0498><loc0446><loc0508><seg106><seg028><seg114><seg018><seg022><seg061><seg064><seg022><seg022><seg106><seg106><seg022><seg109><seg074><seg039><seg088> to release the yellow-green mug onto the white cup, then lift the arm clear of the cup." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 160966, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 13.009559195942566, |
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| 0.656891495601173, |
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| "gt_box": [ |
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| "gen_text": "Continue descending toward the table surface, swinging the nose slightly and pitching the nose downward to align the open gripper @grip <loc0629><loc0456><loc0672><loc0466><seg011><seg074><seg052><seg066><seg022><seg068><seg023><seg022><seg022><seg061><seg028><seg086><seg076><seg091><seg060><seg045> <loc0611><loc0407><loc0652><loc0418><seg028><seg074><seg091><seg106><seg022><seg068><seg023><seg022><seg022><seg026><seg068><seg022><seg015><seg068><seg060><seg045> over the cloth item." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161006, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 69.7354784423723, |
| "box": [ |
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| "gen_text": "Continue descending and swinging the nose toward the cloth, adjusting yaw to align the finger line across the cloth fabric @grip <loc0667><loc0450><loc0702><loc0458><seg011><seg074><seg028><seg037><seg082><seg028><seg026><seg022><seg022><seg066><seg068><seg022><seg076><seg028><seg019><seg051> <loc0692><loc0411><loc0725><loc0420><seg028><seg074><seg036><seg106><seg022><seg077><seg023><seg042><seg022><seg026><seg091><seg022><seg015><seg011><seg019><seg093>." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161046, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 61.686159500930614, |
| "box": [ |
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| 0.9120234604105572, |
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| "gen_text": "Continue lifting and swinging the arm horizontally away from the table toward the target placement area while maintaining the closed grip on the bunched bundle @grip <loc0902><loc0407><loc0933><loc0418><seg052><seg009><seg057><seg018><seg022><seg106><seg026><seg082><seg022><seg071><seg066><seg022><seg109><seg041><seg039><seg099> <loc0934><loc0392><loc0967><loc0400><seg052><seg008><seg057><seg031><seg022><seg092><seg092><seg082><seg022><seg106><seg071><seg082><seg015><seg041><seg089><seg088>." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161068, |
| "t_rel": 102, |
| "emitted": true, |
| "iou": 0.7034482758620688, |
| "cdist_px": 1.0766897214478355, |
| "box": [ |
| 0.8914956011730205, |
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| "gen_text": "Close the gripper firmly around the bunched bunched bundle on the table, seating both pads onto the fabric \u2014 @grip <loc0912><loc0324><loc0946><loc0336><seg074><seg114><seg052><seg092><seg054><seg009><seg026><seg022><seg022><seg026><seg004><seg104><seg015><seg075><seg060><seg019> <loc0931><loc0309><loc0969><loc0319><seg057><seg074><seg080><seg037><seg054><seg009><seg023><seg090><seg104><seg023><seg004><seg104><seg015><seg073><seg060><seg019> closing to a firm hold on the bundle." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161108, |
| "t_rel": 142, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 29.037280159118712, |
| "box": [ |
| 0.8162267839687195, |
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| 0.8514173998044966, |
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| "gt_box": [ |
| 0.8240469208211144, |
| 0.28641251221896386, |
| 0.8651026392961877, |
| 0.2991202346041056 |
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| "gen_text": "Open the gripper fully @grip <loc0835><loc0339><loc0871><loc0352><seg052><seg041><seg036><seg023><seg022><seg064><seg062><seg022><seg022><seg106><seg106><seg082><seg015><seg009><seg089><seg099> <loc0812><loc0311><loc0849><loc0324><seg052><seg008><seg057><seg031><seg022><seg106><seg066><seg082><seg022><seg023><seg064><seg082><seg015><seg004><seg089><seg075> to release the bundle, then retract the arm upward and away from the placed bundle." |
| }, |
| { |
| "ep": 458, |
| "frame_abs": 161148, |
| "t_rel": 182, |
| "emitted": true, |
| "iou": 0.11002444987775147, |
| "cdist_px": 11.120983183782272, |
| "box": [ |
| 0.6823069403714564, |
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| "gt_box": [ |
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| "gen_text": "Open the gripper to release the bundle at @grip <loc0698><loc0470><loc0739><loc0486><seg068><seg041><seg068><seg048><seg022><seg077><seg029><seg104><seg022><seg061><seg091><seg022><seg065><seg028><seg019><seg063> <loc0672><loc0459><loc0709><loc0475><seg091><seg041><seg068><seg026><seg022><seg092><seg029><seg042><seg022><seg062><seg064><seg022><seg015><seg028><seg019><seg063> and retract the arm upward and away from the placed bundle." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203818, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 137.7355944145485, |
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| "gt_box": [ |
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| "gen_text": "Continue descending toward the red sports bag, adjusting horizontally to center the finger pads over it, maintaining @grip <loc0452><loc0534><loc0474><loc0551><seg026><seg011><seg114><seg059><seg104><seg061><seg026><seg022><seg022><seg106><seg066><seg022><seg109><seg074><seg045><seg088> <loc0403><loc0510><loc0431><loc0528><seg026><seg068><seg114><seg091><seg104><seg061><seg092><seg022><seg022><seg064><seg066><seg022><seg093><seg114><seg045><seg075> open as the gripper closes in on the bag." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203858, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.1862068965517241, |
| "cdist_px": 7.139168216584478, |
| "box": [ |
| 0.6422287390029325, |
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| 0.6695992179863147, |
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| "gt_box": [ |
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| "gen_text": "Continue descending onto the red sports bag and close the fingers to grasp it at @grip <loc0657><loc0541><loc0685><loc0561><seg064><seg028><seg114><seg018><seg022><seg061><seg066><seg042><seg022><seg064><seg062><seg086><seg005><seg074><seg093><seg073> <loc0578><loc0533><loc0606><loc0551><seg106><seg077><seg078><seg077><seg042><seg054><seg092><seg022><seg022><seg064><seg029><seg042><seg093><seg074><seg093><seg055>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203898, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 51.897568014503015, |
| "box": [ |
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| 0.6383186705767351, |
| 0.6735092864125122, |
| 0.6598240469208211 |
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| "gt_box": [ |
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| 0.7917888563049853, |
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| "gen_text": "Close the gripper fully onto the red sports bag and lift upward to extract it from the table surface; @grip <loc0668><loc0653><loc0689><loc0675><seg064><seg004><seg057><seg059><seg022><seg023><seg061><seg022><seg022><seg026><seg066><seg022><seg072><seg041><seg089><seg075> <loc0610><loc0655><loc0632><loc0673><seg066><seg004><seg041><seg106><seg086><seg026><seg029><seg042><seg022><seg106><seg023><seg022><seg058><seg041><seg045><seg075> should be firmly seated on the red bag." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203917, |
| "t_rel": 99, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 40.0425800739553, |
| "box": [ |
| 0.7663734115347018, |
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| 0.6744868035190615 |
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| "gt_box": [ |
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| 0.7898338220918866, |
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| "gen_text": "Close the gripper fully onto the red sports bag and lift upward to extract it from the table surface; @grip <loc0784><loc0671><loc0808><loc0690><seg055><seg091><seg078><seg028><seg022><seg062><seg052><seg082><seg090><seg052><seg061><seg022><seg051><seg114><seg093><seg055> <loc0729><loc0668><loc0751><loc0686><seg055><seg077><seg078><seg068><seg022><seg061><seg064><seg042><seg090><seg052><seg048><seg022><seg093><seg114><seg093><seg055> should seat both pads on the bag's body before lifting." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203957, |
| "t_rel": 139, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 42.25568453526488, |
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| 0.4398826979472141, |
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| "gt_box": [ |
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| "gen_text": "Open the gripper fully to release the red sports bag and retract upward away from the table surface at @grip <loc0450><loc0534><loc0473><loc0551><seg106><seg068><seg078><seg077><seg022><seg048><seg092><seg082><seg119><seg052><seg023><seg022><seg093><seg074><seg051><seg073> <loc0419><loc0533><loc0444><loc0549><seg023><seg028><seg114><seg091><seg086><seg061><seg092><seg022><seg022><seg064><seg026><seg082><seg097><seg074><seg045><seg088>." |
| }, |
| { |
| "ep": 595, |
| "frame_abs": 203984, |
| "t_rel": 166, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 33.07189870179775, |
| "box": [ |
| 0.36950146627565983, |
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| 0.39002932551319647, |
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| "gt_box": [ |
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| "gen_text": "Open the gripper fully to release the green ball and retract upward away from the placed bag; let @grip <loc0378><loc0533><loc0399><loc0547><seg092><seg028><seg078><seg028><seg022><seg066><seg052><seg082><seg022><seg077><seg023><seg022><seg051><seg114><seg093><seg055> <loc0356><loc0528><loc0377><loc0542><seg023><seg077><seg114><seg091><seg086><seg061><seg092><seg082><seg022><seg052><seg023><seg042><seg093><seg074><seg093><seg055> spread wide to free the ball." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246200, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 30.659480830998962, |
| "box": [ |
| 0.2238514173998045, |
| 0.3010752688172043, |
| 0.26881720430107525, |
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| "gt_box": [ |
| 0.20234604105571846, |
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| "gen_text": "Continue descending toward the blue notebook, aligning the open gripper @grip <loc0229><loc0308><loc0275><loc0333><seg026><seg064><seg078><seg028><seg086><seg062><seg077><seg042><seg090><seg068><seg062><seg022><seg045><seg114><seg098><seg055> <loc0210><loc0277><loc0248><loc0301><seg026><seg092><seg012><seg004><seg086><seg054><seg068><seg082><seg090><seg068><seg029><seg104><seg044><seg078><seg058><seg055> over the notebook's cover, ready to close." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246240, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 21.00638546973112, |
| "box": [ |
| 0.46725317693059626, |
| 0.458455522971652, |
| 0.5004887585532747, |
| 0.46725317693059626 |
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| "gt_box": [ |
| 0.4780058651026393, |
| 0.4887585532746823, |
| 0.5190615835777126, |
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| "gen_text": "Open the gripper fully @grip <loc0478><loc0469><loc0512><loc0478><seg012><seg074><seg092><seg011><seg041><seg114><seg074><seg021><seg023><seg009><seg057><seg060><seg089><seg088><seg057><seg012> <loc0458><loc0417><loc0494><loc0428><seg078><seg074><seg048><seg057><seg078><seg041><seg044><seg080><seg052><seg074><seg057><seg019><seg039><seg069><seg089><seg012> and retract the arm upward and away from the book, leaving it placed on the tray." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246280, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 20.47416521917493, |
| "box": [ |
| 0.6187683284457478, |
| 0.5210166177908113, |
| 0.6441837732160313, |
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| "gt_box": [ |
| 0.6735092864125122, |
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| "gen_text": "Continue lifting the blue notebook upward and then rotate it the wrist to orient the notebook for placement, keeping @grip <loc0633><loc0533><loc0659><loc0543><seg012><seg114><seg071><seg009><seg041><seg114><seg009><seg021><seg048><seg009><seg074><seg019><seg089><seg079><seg057><seg012> <loc0595><loc0499><loc0623><loc0510><seg078><seg041><seg066><seg052><seg092><seg078><seg092><seg082><seg022><seg052><seg074><seg049><seg085><seg073><seg057><seg114> closed on the notebook throughout the lift." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246320, |
| "t_rel": 120, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 11.194837284993673, |
| "box": [ |
| 0.6559139784946236, |
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| 0.6862170087976539, |
| 0.5141739980449658 |
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| "gt_box": [ |
| 0.6901270772238515, |
| 0.4995112414467253, |
| 0.7135874877810362, |
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| "gen_text": "Continue transporting the blue notebook horizontally toward the right of the tray while maintaining the closed grip @grip <loc0671><loc0516><loc0702><loc0526><seg012><seg114><seg092><seg009><seg041><seg114><seg009><seg021><seg048><seg009><seg057><seg060><seg057><seg088><seg057><seg012> <loc0673><loc0479><loc0703><loc0488><seg012><seg114><seg037><seg057><seg074><seg114><seg044><seg056><seg029><seg009><seg057><seg019><seg089><seg088><seg057><seg012>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246360, |
| "t_rel": 160, |
| "emitted": true, |
| "iou": 0.06306306306306306, |
| "cdist_px": 7.450322194444267, |
| "box": [ |
| 0.6559139784946236, |
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| "gt_box": [ |
| 0.6529814271749755, |
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| 0.6764418377321603, |
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| "gen_text": "Continue transporting the blue notebook horizontally toward the right of the tray while maintaining the closed grip @grip <loc0671><loc0521><loc0700><loc0533><seg064><seg009><seg057><seg071><seg022><seg066><seg029><seg082><seg022><seg048><seg048><seg022><seg095><seg041><seg044><seg055> <loc0694><loc0498><loc0722><loc0509><seg052><seg009><seg057><seg031><seg022><seg106><seg106><seg022><seg022><seg023><seg064><seg022><seg015><seg009><seg089><seg099>." |
| }, |
| { |
| "ep": 721, |
| "frame_abs": 246400, |
| "t_rel": 200, |
| "emitted": true, |
| "iou": 0.15551839464882913, |
| "cdist_px": 4.503585853104436, |
| "box": [ |
| 0.5620723362658846, |
| 0.4310850439882698, |
| 0.5953079178885631, |
| 0.44086021505376344 |
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| "gt_box": [ |
| 0.5650048875855328, |
| 0.4252199413489736, |
| 0.603128054740958, |
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| "gen_text": "Open the gripper fully to release the blue notebook into the book, then retract the arm upward and away from the book at @grip <loc0575><loc0441><loc0609><loc0451><seg012><seg074><seg071><seg057><seg074><seg074><seg009><seg023><seg066><seg009><seg057><seg060><seg019><seg099><seg074><seg012> <loc0587><loc0413><loc0618><loc0424><seg012><seg114><seg037><seg057><seg074><seg074><seg044><seg021><seg023><seg009><seg074><seg019><seg089><seg088><seg057><seg012>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269794, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.2747252747252748, |
| "cdist_px": 6.78067196735331, |
| "box": [ |
| 0.3782991202346041, |
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| 0.4291300097751711, |
| 0.39296187683284456 |
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| "gt_box": [ |
| 0.38514173998044965, |
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| 0.447702834799609, |
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| "gen_text": "Continue lifting and retracting the arm back to the home position, keeping the gripper fully open at @grip <loc0387><loc0384><loc0439><loc0402><seg092><seg084><seg057><seg059><seg022><seg026><seg026><seg082><seg022><seg106><seg026><seg022><seg095><seg041><seg044><seg073> <loc0369><loc0339><loc0412><loc0357><seg026><seg028><seg114><seg059><seg022><seg061><seg026><seg022><seg022><seg106><seg023><seg022><seg109><seg074><seg051><seg027>, and the arm is clear of the table." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269834, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 45.12507381455376, |
| "box": [ |
| 0.5620723362658846, |
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| "gt_box": [ |
| 0.45454545454545453, |
| 0.6647116324535679, |
| 0.49853372434017595, |
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| "gen_text": "Continue descending and closing the fingers around the toaster lever, pitching the nose down to seat the pads on either side of the lever shaft; target @grip <loc0575><loc0639><loc0611><loc0645><seg092><seg008><seg057><seg071><seg022><seg092><seg092><seg086><seg022><seg026><seg091><seg022><seg015><seg009><seg019><seg017> <loc0572><loc0595><loc0609><loc0603><seg092><seg009><seg057><seg071><seg022><seg092><seg092><seg082><seg022><seg106><seg052><seg082><seg015><seg009><seg057><seg075> closing onto the lever." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269843, |
| "t_rel": 49, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 25.726348621068965, |
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| "gen_text": "Continue descending and closing the gripper fingers around the toaster lever, pitching the nose down to seat the pads against the lever \u2014 @grip <loc0517><loc0638><loc0552><loc0646><seg092><seg028><seg078><seg087><seg022><seg066><seg091><seg082><seg022><seg077><seg026><seg022><seg093><seg114><seg093><seg027> <loc0512><loc0603><loc0546><loc0612><seg106><seg068><seg078><seg068><seg022><seg026><seg052><seg042><seg090><seg077><seg023><seg022><seg051><seg114><seg093><seg055>." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269883, |
| "t_rel": 89, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 17.154297278507464, |
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| "gen_text": "Open the gripper fully to release the toaster lever and lift the arm upward and backward away from the toaster; transition to @grip <loc0610><loc0623><loc0647><loc0632><seg077><seg074><seg004><seg048><seg104><seg052><seg106><seg022><seg104><seg023><seg068><seg104><seg065><seg028><seg019><seg051> <loc0592><loc0596><loc0626><loc0606><seg091><seg041><seg011><seg066><seg022><seg064><seg026><seg082><seg022><seg066><seg091><seg082><seg015><seg009><seg019><seg017> open as the arm withdraws." |
| }, |
| { |
| "ep": 822, |
| "frame_abs": 269892, |
| "t_rel": 98, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 16.596064228389356, |
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| 0.5474095796676441, |
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| 0.5610948191593352, |
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| "gen_text": "Open the gripper fully to release the toaster lever and lift the arm upward and backward away from the toaster; let @grip <loc0560><loc0610><loc0599><loc0619><seg091><seg074><seg009><seg037><seg104><seg068><seg106><seg022><seg022><seg064><seg052><seg082><seg076><seg041><seg019><seg069> <loc0549><loc0576><loc0587><loc0585><seg092><seg041><seg011><seg023><seg022><seg106><seg029><seg042><seg022><seg023><seg106><seg082><seg015><seg009><seg089><seg075> open during the retreat." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 303932, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 22.999213930533696, |
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| "gt_box": [ |
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| "gen_text": "Continue descending toward the blue chip bag on the tray, swinging the nose slightly while keeping the gripper open @grip <loc0355><loc0337><loc0401><loc0354><seg106><seg106><seg012><seg057><seg022><seg023><seg004><seg042><seg022><seg004><seg029><seg022><seg057><seg078><seg095><seg073> <loc0363><loc0284><loc0410><loc0300><seg064><seg066><seg078><seg060><seg022><seg023><seg041><seg038><seg022><seg004><seg026><seg022><seg057><seg078><seg098><seg073>." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 303972, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 23.628851165477208, |
| "box": [ |
| 0.3763440860215054, |
| 0.36950146627565983, |
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| "gt_box": [ |
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| "gen_text": "Continue descending toward the blue chip bag on the tray, swinging the nose slightly to align the finger-line across the bag's body; keep @grip <loc0385><loc0378><loc0430><loc0394><seg036><seg026><seg074><seg012><seg119><seg028><seg078><seg051><seg063><seg078><seg011><seg082><seg012><seg114><seg015><seg017> <loc0407><loc0308><loc0455><loc0324><seg028><seg035><seg114><seg012><seg119><seg052><seg078><seg017><seg099><seg114><seg031><seg082><seg012><seg078><seg027><seg017> open as the approach converges on the target." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304012, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0896551724137931, |
| "cdist_px": 5.788783345633111, |
| "box": [ |
| 0.6158357771260997, |
| 0.3812316715542522, |
| 0.6588465298142717, |
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| "gt_box": [ |
| 0.6080156402737048, |
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| "gen_text": "Retract the gripper upward and away from the blue chip bag, keeping @grip <loc0630><loc0390><loc0674><loc0403><seg036><seg035><seg114><seg012><seg119><seg091><seg078><seg077><seg075><seg078><seg077><seg082><seg012><seg078><seg049><seg017> <loc0674><loc0329><loc0715><loc0341><seg028><seg035><seg074><seg012><seg090><seg077><seg078><seg063><seg017><seg078><seg077><seg082><seg012><seg114><seg049><seg063> fully open to clear the bag." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304052, |
| "t_rel": 120, |
| "emitted": true, |
| "iou": 0.048338368580060354, |
| "cdist_px": 8.753751651287136, |
| "box": [ |
| 0.6363636363636364, |
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| 0.6695992179863147, |
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| "gen_text": "Open the gripper fully to release the blue chip bag onto the counter surface, then begin lifting the arm away from the bag at @grip <loc0651><loc0393><loc0685><loc0404><seg036><seg035><seg114><seg012><seg119><seg091><seg078><seg077><seg075><seg114><seg018><seg082><seg078><seg078><seg095><seg017> <loc0690><loc0363><loc0724><loc0374><seg036><seg021><seg114><seg012><seg090><seg052><seg078><seg017><seg075><seg114><seg091><seg082><seg012><seg078><seg049><seg017>." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304058, |
| "t_rel": 126, |
| "emitted": true, |
| "iou": 0.19682539682539696, |
| "cdist_px": 4.489773421467348, |
| "box": [ |
| 0.6725317693059628, |
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| 0.7067448680351907, |
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| "gt_box": [ |
| 0.6627565982404692, |
| 0.3841642228739003, |
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| "gen_text": "Open the gripper fully to release the blue chip bag onto the counter surface, then begin lifting the arm away from the bag at @grip <loc0688><loc0386><loc0723><loc0397><seg114><seg074><seg037><seg092><seg023><seg078><seg066><seg082><seg022><seg052><seg009><seg000><seg015><seg017><seg057><seg060> <loc0711><loc0377><loc0745><loc0389><seg074><seg074><seg106><seg092><seg062><seg041><seg052><seg082><seg022><seg026><seg114><seg049><seg095><seg021><seg074><seg114>." |
| }, |
| { |
| "ep": 974, |
| "frame_abs": 304098, |
| "t_rel": 166, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 11.261828605119304, |
| "box": [ |
| 0.5972629521016618, |
| 0.3489736070381232, |
| 0.6285434995112414, |
| 0.3597262952101662 |
| ], |
| "gt_box": [ |
| 0.5874877810361682, |
| 0.3333333333333333, |
| 0.6236559139784946, |
| 0.3411534701857282 |
| ], |
| "gen_text": "Open the gripper fully to release the blue chip bag onto the counter surface, then begin lifting the arm away from the bag at @grip <loc0611><loc0357><loc0643><loc0368><seg089><seg064><seg074><seg012><seg027><seg074><seg078><seg057><seg078><seg078><seg089><seg023><seg012><seg074><seg095><seg041> <loc0636><loc0327><loc0672><loc0337><seg089><seg091><seg074><seg012><seg099><seg074><seg114><seg057><seg012><seg078><seg057><seg106><seg012><seg074><seg058><seg004>." |
| } |
| ] |
| }, |
| "episode_meta": { |
| "0": { |
| "prompt": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", |
| "plan_text": "Plan:1. Move the open gripper down toward the yellow cube on the table. 2. Descend and align the gripper fingers around the yellow cube. 3. Close the gripper firmly to grasp the yellow cube. 4. Lift the yellow cube upward off the table. 5. Transport the yellow cube over the opening of the white plastic storage bin. 6. Descend and place the yellow cube into the white plastic storage bin. 7. Open the gripper to release the yellow cube into the white plastic storage bin. 2. Retract the gripper upward and away from the white plastic storage bin.", |
| "lo": 0, |
| "hi": 443, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 120, |
| 122, |
| 162 |
| ] |
| }, |
| "209": { |
| "prompt": "Clump objects (cloth, rope, plush toy)", |
| "plan_text": "Plan:1. Move the open gripper down toward the white terry towel on the black table and close the gripper to a firm grasp on it. 2. Lift and carry the white terry towel to a clear area of the table and release it onto the pink cloth. 3. Move the open gripper down toward the pink cloth, grasp it, and carry it to a clear area of the table. 4. Move the open gripper to a clear spot on the table and carry it to a clear cloth pile. 5. Move the open gripper to a clear spot on the table and release it onto the pink cloth. 6. Retract the arm to a clear cloth pile and return to a neutral position.", |
| "lo": 58316, |
| "hi": 59312, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 120, |
| 144, |
| 184 |
| ] |
| }, |
| "315": { |
| "prompt": "Move object to a new position and orientation (ex: grasping, relocating, flipping)", |
| "plan_text": "Plan:1. Move the open gripper down toward the yellow-green mug near the table's centre. 2. Descend and align the finger pads on either side of the yellow-green mug. 3. Close the gripper firmly to grasp the yellow-green mug. 4. Lift the yellow-green mug clear of the table. 5. Transport the yellow-green mug over the white cup sitting on the table. 6. Lower the yellow-green mug onto the white cup and press it down to seat it. 7. Retract the open gripper upward to a neutral raised pose.", |
| "lo": 111797, |
| "hi": 111907, |
| "kfs": [ |
| 0, |
| 40, |
| 65, |
| 103, |
| 110 |
| ] |
| }, |
| "458": { |
| "prompt": "Do any two tasks consecutively.\n\nSuggested tasks:\n* Fold, spread out, or clump object (ex: cloth, charging cord, clothes)\n* Fold, spread out, or clump object (e", |
| "plan_text": "Plan:1. Move the arm downward toward the table surface and align the open gripper over the cloth. 2. Close the gripper firmly around the bunched bunched bundle. 3. Lift the arm upward off the table surface. 4. Carry the bundle to the new position while holding the closed gripper. 5. Descend and align the arm over the target placement spot on the table. 6. Open the gripper to release the bundle. 7. Retract the arm upward and away from the placed bundle.", |
| "lo": 160966, |
| "hi": 161383, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 102, |
| 142, |
| 182 |
| ] |
| }, |
| "595": { |
| "prompt": "Do any three tasks consecutively.\n\nSuggested tasks:\t\t\n* Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)\n* Move lid on", |
| "plan_text": "Plan:1. Move the open gripper down toward the red sports bag lying flat on the table. <loc0426><loc0535><loc0458><loc0554><loc0390><loc0512><loc0417><loc0532>", |
| "lo": 203818, |
| "hi": 204319, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 99, |
| 139, |
| 166 |
| ] |
| }, |
| "721": { |
| "prompt": "open book", |
| "plan_text": "Plan:1. Move the open gripper down toward the blue notebook lying flat on the white tray. 2. Close the gripper firmly around the blue notebook to secure it and lift it off the tray. 3. Lift the blue notebook upward off the tray while holding it. 4. Transport the blue notebook laterally to the right across the table toward the open book. 5. Lower the blue notebook into the open book on the tray. 6. Open the gripper to release the blue notebook into the book, then retract the arm upward and away.", |
| "lo": 246200, |
| "hi": 246491, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 120, |
| 160, |
| 200 |
| ] |
| }, |
| "822": { |
| "prompt": "Open or close slidable objects (ex: toaster, drawers, sliding doors, dressers)", |
| "plan_text": "Plan:1. Move the open gripper forward and downward toward the toaster lever on the front face of the toaster. 2. Descend and align the gripper fingers around the toaster lever. 3. Close the gripper firmly around the toaster lever. 4. Press the lever fully down until the toaster's blue indicator lights illuminate. 5. Open the gripper and lift the arm upward and backward away from the toaster.", |
| "lo": 269794, |
| "hi": 269920, |
| "kfs": [ |
| 0, |
| 40, |
| 49, |
| 89, |
| 98, |
| 126 |
| ] |
| }, |
| "974": { |
| "prompt": "pnp-table-to-tray-allgreen", |
| "plan_text": "Plan:1. Move the gripper down toward the blue chip bag on the tray. 2. Align the fingers along the tray surface. 3. Close the gripper to firmly grasp the blue chip bag. 4. Lift the blue chip bag upward off the tray surface. 5. Transport the blue chip bag laterally over the open countertop beside the tray. 6. Descend and align the gripper over the blue chip bag. 7. Open the gripper to release the blue chip bag onto the counter surface. 8. Retract the gripper upward and away from the blue chip bag.", |
| "lo": 303932, |
| "hi": 304905, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 120, |
| 126, |
| 166 |
| ] |
| } |
| } |
| }, |
| "OOD_heldout": { |
| "episodes": [ |
| 48, |
| 50, |
| 52, |
| 320, |
| 401, |
| 551, |
| 553, |
| 691 |
| ], |
| "summary": { |
| "S": { |
| "n": 40, |
| "emit_rate": 0.95, |
| "iou_mean": 0.06342206873030634, |
| "iou_median": 0.0, |
| "iou>0.25": 0.07894736842105263, |
| "iou>0.5": 0.05263157894736842, |
| "cdist_median_px": 13.266393697011143, |
| "cdist_mean_px": 16.49044486480673 |
| }, |
| "A_kf-8": { |
| "n": 36, |
| "emit_rate": 1.0, |
| "iou_mean": 0.007883589598367472, |
| "iou_median": 0.0, |
| "iou>0.25": 0.0, |
| "iou>0.5": 0.0, |
| "cdist_median_px": 27.023036664240095, |
| "cdist_mean_px": 48.12611130004958 |
| }, |
| "A_kf": { |
| "n": 40, |
| "emit_rate": 1.0, |
| "iou_mean": 0.01427701737388384, |
| "iou_median": 0.0, |
| "iou>0.25": 0.025, |
| "iou>0.5": 0.0, |
| "cdist_median_px": 24.407462253453048, |
| "cdist_mean_px": 37.89274887125869 |
| } |
| }, |
| "records": { |
| "S": [ |
| { |
| "ep": 48, |
| "frame_abs": 10623, |
| "t_rel": 0, |
| "emitted": false, |
| "iou": null, |
| "cdist_px": null, |
| "box": null, |
| "gt_box": [ |
| 0.0, |
| 0.7546432062561095, |
| 0.022482893450635387, |
| 0.7800586510263929 |
| ], |
| "gen_text": "The wooden mallet pen with its white cord now lies on the table; the open gripper has descended and moved laterally toward the table surface, now positioned closer to the cable, at @grip_now <loc0000><loc0718><loc0000><loc0749><seg012><seg074><seg061><seg063><seg052><seg078><seg017><seg090><seg022><seg077><seg114><seg079><seg109><seg035><seg057><seg078> <loc0000><loc0675><loc0000><loc0708><seg012><seg074><seg023><seg036><seg077><seg078><seg017><seg090><seg022><seg077><seg114><seg098><seg005><seg035><seg057><seg012>." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10663, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.04197761194029848, |
| "cdist_px": 11.477649384669098, |
| "box": [ |
| 0.3939393939393939, |
| 0.6119257086999023, |
| 0.4232649071358749, |
| 0.6256109481915934 |
| ], |
| "gt_box": [ |
| 0.41837732160312807, |
| 0.6168132942326491, |
| 0.458455522971652, |
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| "gen_text": "The robot arm has swung forward and descended slightly; the open gripper is now positioned above and around the white cord, open and converging toward it, at @grip_now <loc0403><loc0626><loc0433><loc0640><seg028><seg074><seg028><seg037><seg082><seg077><seg026><seg022><seg022><seg061><seg028><seg104><seg070><seg068><seg019><seg045> <loc0439><loc0607><loc0470><loc0623><seg028><seg074><seg077><seg037><seg082><seg091><seg023><seg022><seg022><seg062><seg068><seg022><seg076><seg077><seg060><seg045>." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10703, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 12.205067366684602, |
| "box": [ |
| 0.4555229716520039, |
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| 0.48191593352883677, |
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| ], |
| "gt_box": [ |
| 0.4858260019550342, |
| 0.5483870967741935, |
| 0.5190615835777126, |
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| ], |
| "gen_text": "The gripper is inside or just above the wooden mallet pen, which sits on the table with the white cord and green cord; the fingers are beginning to open for release at @grip_now <loc0466><loc0563><loc0493><loc0578><seg068><seg041><seg036><seg048><seg082><seg077><seg023><seg104><seg022><seg026><seg068><seg022><seg015><seg011><seg019><seg051> <loc0499><loc0552><loc0528><loc0566><seg068><seg074><seg028><seg037><seg104><seg052><seg026><seg090><seg022><seg023><seg091><seg022><seg015><seg011><seg019><seg093>." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10709, |
| "t_rel": 86, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 15.674754269668945, |
| "box": [ |
| 0.4506353861192571, |
| 0.5474095796676441, |
| 0.4750733137829912, |
| 0.5630498533724341 |
| ], |
| "gt_box": [ |
| 0.48778103616813295, |
| 0.5405669599217986, |
| 0.5210166177908113, |
| 0.555229716520039 |
| ], |
| "gen_text": "The gripper is inside or at the rim of the wooden mallet pen, which sits on the table with its white cord and handle; the fingers are beginning to open for release at @grip_now <loc0461><loc0560><loc0486><loc0576><seg068><seg041><seg036><seg048><seg082><seg077><seg023><seg022><seg022><seg026><seg077><seg022><seg015><seg011><seg019><seg051> <loc0487><loc0554><loc0516><loc0569><seg077><seg074><seg068><seg026><seg104><seg052><seg023><seg022><seg042><seg061><seg091><seg022><seg076><seg028><seg019><seg093>." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10749, |
| "t_rel": 126, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 16.80510837578485, |
| "box": [ |
| 0.1681329423264907, |
| 0.6979472140762464, |
| 0.20527859237536658, |
| 0.718475073313783 |
| ], |
| "gt_box": [ |
| 0.16911045943304007, |
| 0.7223851417399805, |
| 0.22776148582600195, |
| 0.7448680351906158 |
| ], |
| "gen_text": "The gripper is open and lifting upward while holding the white cord; the arm has risen and swung away from the table surface, with the wooden mallet pen visible below; @grip_now <loc0172><loc0714><loc0210><loc0735><seg011><seg074><seg091><seg106><seg022><seg068><seg023><seg022><seg022><seg062><seg028><seg104><seg015><seg017><seg060><seg003> <loc0178><loc0694><loc0215><loc0714><seg011><seg074><seg052><seg026><seg022><seg068><seg023><seg022><seg104><seg062><seg028><seg086><seg076><seg064><seg060><seg039> is wide open." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11063, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 28.467473303721412, |
| "box": [ |
| 0.03225806451612903, |
| 0.6451612903225806, |
| 0.08699902248289346, |
| 0.667644183773216 |
| ], |
| "gt_box": [ |
| 0.02932551319648094, |
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| "gen_text": "The table holds a green-and-white striped cloth, a small green object, a small green loop, and a large clear plastic bag; the gripper is open and positioned above and to the right of the scene, not yet over the objects. @grip_now <loc0033><loc0660><loc0089><loc0683><seg012><seg074><seg023><seg014><seg011><seg078><seg036><seg082><seg042><seg011><seg114><seg016><seg016><seg035><seg089><seg012> <loc0004><loc0621><loc0055><loc0644><seg012><seg041><seg023><seg063><seg091><seg078><seg068><seg022><seg042><seg077><seg114><seg093><seg016><seg027><seg057><seg012>" |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11103, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.06198347107438019, |
| "cdist_px": 7.901144454685701, |
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| 0.3939393939393939, |
| 0.6324535679374389, |
| 0.426197458455523, |
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| 0.3831867057673509, |
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| "gen_text": "The gripper is now lower and closer to the table surface, hovering just above the green loop which is seated between the pads; the gripper is open and converging toward the cable loop at @grip_now <loc0403><loc0647><loc0436><loc0662><seg028><seg074><seg077><seg048><seg042><seg068><seg026><seg022><seg022><seg066><seg068><seg104><seg070><seg028><seg019><seg045> <loc0407><loc0611><loc0444><loc0625><seg028><seg074><seg068><seg106><seg022><seg077><seg026><seg082><seg022><seg061><seg068><seg022><seg076><seg077><seg060><seg051>." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11143, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.6000000000000001, |
| "cdist_px": 1.2512218963831856, |
| "box": [ |
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| 0.45454545454545453, |
| 0.5698924731182796, |
| 0.48778103616813295, |
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| "gen_text": "The gripper is inside or just above the clear plastic bag, which is being carried by the closed fingers; the green loop is being lowered into the bag, and the gripper is beginning to open to release the cable loop at the drop zone. @grip_now <loc0467><loc0585><loc0497><loc0595><seg078><seg041><seg052><seg052><seg052><seg078><seg077><seg082><seg022><seg028><seg114><seg072><seg085><seg064><seg057><seg078> <loc0444><loc0547><loc0474><loc0557><seg078><seg041><seg052><seg052><seg064><seg012><seg077><seg082><seg022><seg077><seg114><seg072><seg109><seg073><seg057><seg078> shows the fingers spreading open during transport." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11148, |
| "t_rel": 85, |
| "emitted": true, |
| "iou": 0.5438596491228019, |
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| "gen_text": "The gripper is inside or just above the clear plastic bag, which is being lowered toward the table surface; the green loop is between the gripper fingers and the bag is still on the table. @grip_now <loc0461><loc0576><loc0492><loc0586><seg028><seg074><seg091><seg048><seg022><seg068><seg023><seg022><seg022><seg026><seg068><seg104><seg047><seg068><seg019><seg045> <loc0455><loc0549><loc0486><loc0557><seg068><seg074><seg068><seg026><seg022><seg077><seg026><seg022><seg022><seg026><seg068><seg022><seg076><seg068><seg019><seg051> shows the fingers beginning to open as the loop is being lowered." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11188, |
| "t_rel": 125, |
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| "iou": 0.0, |
| "cdist_px": 11.262371616989142, |
| "box": [ |
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| "gen_text": "The gripper is holding the green loop and has lifted it off the table; the arm is extended upward and swinging toward the right side of the table where the clear plastic bag sits. The gripper is closed around the cable loop, @grip_now <loc0376><loc0683><loc0410><loc0697><seg012><seg074><seg023><seg036><seg028><seg114><seg036><seg082><seg082><seg011><seg114><seg016><seg016><seg073><seg089><seg012> <loc0360><loc0658><loc0395><loc0671><seg012><seg041><seg023><seg063><seg077><seg114><seg068><seg082><seg022><seg028><seg114><seg093><seg016><seg035><seg089><seg012> still in the transport hold." |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11645, |
| "t_rel": 0, |
| "emitted": false, |
| "iou": null, |
| "cdist_px": null, |
| "box": null, |
| "gt_box": [ |
| 0.21407624633431085, |
| 0.7869012707722385, |
| 0.2649071358748778, |
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| "gen_text": "The table holds a wire" |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11685, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.27476882430647265, |
| "cdist_px": 7.045070970591717, |
| "box": [ |
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| "gen_text": "The gripper is now very close to the table surface, hovering just above the target stuffed animal on the table; the fingers are open and converging toward the target, at @grip_now <loc0450><loc0597><loc0479><loc0611><seg028><seg074><seg077><seg037><seg042><seg068><seg026><seg022><seg022><seg026><seg068><seg104><seg047><seg068><seg019><seg045> <loc0458><loc0558><loc0492><loc0572><seg028><seg074><seg077><seg106><seg042><seg077><seg026><seg082><seg022><seg061><seg028><seg086><seg076><seg077><seg019><seg045>." |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11714, |
| "t_rel": 69, |
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| "iou": 0.21352313167259762, |
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| 0.5053763440860215, |
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| "gen_text": "The gripper is inside the rope-and-cream bundle on the table, fingers beginning to open for release; the wrist camera shows the gripper fingers above the rope-and-cream bundle and the grasp is being released. @grip_now <loc0479><loc0563><loc0506><loc0574><seg004><seg074><seg091><seg106><seg042><seg028><seg023><seg022><seg022><seg023><seg028><seg104><seg047><seg077><seg019><seg039> <loc0479><loc0539><loc0508><loc0547><seg028><seg074><seg017><seg023><seg082><seg028><seg023><seg022><seg022><seg066><seg068><seg104><seg047><seg028><seg019><seg045> is transitioning open." |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11754, |
| "t_rel": 109, |
| "emitted": true, |
| "iou": 0.17369838420107722, |
| "cdist_px": 10.998974527808258, |
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| 0.7194525904203324 |
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| "gt_box": [ |
| 0.10850439882697947, |
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| 0.16226783968719452, |
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| "gen_text": "The gripper is descending back toward the table surface, now hovering just above the target stuffed animal on the tabletop; the fingers are beginning to close around the target, with @grip_now <loc0120><loc0711><loc0163><loc0736><seg004><seg074><seg092><seg092><seg042><seg011><seg023><seg022><seg022><seg029><seg011><seg086><seg015><seg075><seg060><seg003> <loc0125><loc0695><loc0167><loc0719><seg011><seg074><seg092><seg026><seg022><seg028><seg029><seg022><seg104><seg117><seg028><seg086><seg076><seg064><seg060><seg039> showing the fingers beginning to close around the target." |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11788, |
| "t_rel": 143, |
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| "iou": 0.0, |
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| "gen_text": "The gripper is opening above the target stuffed animal on the tabletop, which now sits back near the table edge; the fingers are parting away from the grasp at @grip_now <loc0340><loc0635><loc0369><loc0650><seg028><seg074><seg068><seg037><seg042><seg077><seg026><seg022><seg022><seg038><seg028><seg104><seg015><seg017><seg060><seg045> <loc0369><loc0635><loc0399><loc0650><seg011><seg074><seg052><seg106><seg042><seg068><seg056><seg022><seg022><seg061><seg077><seg022><seg076><seg077><seg060><seg051>." |
| }, |
| { |
| "ep": 320, |
| "frame_abs": 112497, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 57.60889731968822, |
| "box": [ |
| 0.1906158357771261, |
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| "gen_text": "The white tray with the teal cube inside it is visible in the background; the gripper is open and has descended to table level, now positioned above and close to the teal cube, with @grip_now <loc0195><loc0837><loc0248><loc0866><seg114><seg074><seg048><seg092><seg062><seg114><seg026><seg022><seg022><seg026><seg041><seg125><seg095><seg023><seg074><seg060> <loc0149><loc0778><loc0209><loc0806><seg028><seg074><seg069><seg026><seg022><seg077><seg029><seg104><seg022><seg061><seg091><seg022><seg076><seg077><seg060><seg093> showing a wide-open converging configuration just above the cube." |
| }, |
| { |
| "ep": 320, |
| "frame_abs": 112532, |
| "t_rel": 75, |
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| "iou": 0.0, |
| "cdist_px": 41.60647665104351, |
| "box": [ |
| 0.34506353861192574, |
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| 0.38025415444770283, |
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| "gen_text": "The gripper is closing around the teal cube on the table, with the pads engaging the cube's sides; the white tray and small teal cube are visible nearby; the gripper is mid-close, @grip_now <loc0353><loc0722><loc0385><loc0739><seg028><seg074><seg017><seg066><seg042><seg068><seg029><seg022><seg022><seg026><seg052><seg104><seg076><seg028><seg019><seg063> <loc0359><loc0702><loc0392><loc0717><seg068><seg074><seg077><seg106><seg042><seg077><seg029><seg090><seg022><seg023><seg091><seg022><seg076><seg028><seg060><seg093> in a near-contact grip around the cube's sides." |
| }, |
| { |
| "ep": 320, |
| "frame_abs": 112564, |
| "t_rel": 107, |
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| "iou": 0.0, |
| "cdist_px": 33.838389329171214, |
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| 0.6989247311827957, |
| 0.3626588465298143, |
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| "gen_text": "The gripper is descending directly over the small teal cube on the table, with the fingers beginning to converge around it; the teal cube is centered between the pads in the wrist view, at @grip_now <loc0324><loc0662><loc0361><loc0679><seg028><seg074><seg075><seg048><seg042><seg077><seg023><seg022><seg104><seg062><seg028><seg086><seg015><seg017><seg019><seg039> <loc0342><loc0642><loc0377><loc0658><seg028><seg074><seg069><seg026><seg082><seg077><seg029><seg104><seg022><seg061><seg077><seg022><seg015><seg028><seg060><seg051>." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 137967, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.09193245778611628, |
| "cdist_px": 12.037185500038742, |
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| "gt_box": [ |
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| "gen_text": "The gripper is now low over the counter near the white paper towel roll, with the roll of paper towel visible between the open fingers; the gripper is beginning to close at @grip_now <loc0430><loc0672><loc0469><loc0688><seg004><seg114><seg092><seg048><seg022><seg011><seg023><seg022><seg022><seg026><seg028><seg104><seg015><seg077><seg019><seg039> <loc0407><loc0620><loc0446><loc0634><seg028><seg074><seg077><seg048><seg082><seg028><seg026><seg022><seg022><seg066><seg028><seg022><seg015><seg028><seg019><seg045>." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 138007, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.03896103896103897, |
| "cdist_px": 6.962227917611601, |
| "box": [ |
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| 0.44574780058651026, |
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| "gen_text": "The gripper is open and repositioning above the counter, moving toward the roll of paper towel at the front of the counter; the white paper towel roll and its holder are visible below the open fingers. @grip_now <loc0428><loc0491><loc0455><loc0506><seg064><seg004><seg057><seg059><seg022><seg048><seg026><seg022><seg022><seg061><seg066><seg082><seg015><seg041><seg089><seg088> <loc0386><loc0486><loc0412><loc0500><seg052><seg004><seg060><seg043><seg022><seg026><seg066><seg082><seg022><seg106><seg066><seg022><seg072><seg041><seg044><seg073> shows fingers spreading open in an approach configuration." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 138047, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 10.79752493228695, |
| "box": [ |
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| 0.7233626588465298, |
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| "gen_text": "The gripper holds the roll of paper towel in a closed grip and is positioned over the counter at a mid-height; the wrist view shows the roll of paper towel directly below the pads, with the gripper beginning to open. @grip_now <loc0700><loc0474><loc0725><loc0486><seg066><seg011><seg074><seg059><seg104><seg061><seg026><seg022><seg022><seg066><seg066><seg022><seg109><seg041><seg039><seg075> <loc0656><loc0473><loc0681><loc0483><seg092><seg004><seg060><seg031><seg022><seg066><seg106><seg022><seg022><seg052><seg026><seg082><seg093><seg074><seg045><seg088> is partially open." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 138056, |
| "t_rel": 89, |
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| "iou": 0.0, |
| "cdist_px": 8.163338940849176, |
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| "gen_text": "The gripper holds the roll of paper towel in a closed grip and is beginning to lift; the arm has descended slightly and the roll of paper towel is being lowered toward the counter surface. @grip_now <loc0703><loc0470><loc0730><loc0481><seg068><seg041><seg036><seg106><seg042><seg077><seg029><seg022><seg042><seg026><seg064><seg042><seg065><seg011><seg019><seg017> <loc0672><loc0467><loc0699><loc0477><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg048><seg091><seg022><seg015><seg004><seg057><seg093> shows the closed hold around the paper towel." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 138087, |
| "t_rel": 120, |
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| "iou": 0.0, |
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| "gen_text": "The gripper holds the roll of paper towel in a closed grip and has moved it upward and laterally away from the counter; the wrist view shows the roll's roll is nearly in contact with the counter surface, at @grip_now <loc0552><loc0498><loc0585><loc0508><seg077><seg041><seg068><seg066><seg042><seg092><seg029><seg104><seg022><seg062><seg064><seg022><seg015><seg011><seg019><seg063> <loc0532><loc0483><loc0558><loc0493><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg066><seg052><seg022><seg085><seg008><seg019><seg093>." |
| }, |
| { |
| "ep": 401, |
| "frame_abs": 138109, |
| "t_rel": 142, |
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| "gen_text": "The gripper holds the roll of paper towel firmly in a closed grip at @grip_now <loc0700><loc0475><loc0728><loc0486><seg068><seg074><seg017><seg048><seg082><seg077><seg023><seg104><seg022><seg048><seg068><seg022><seg015><seg028><seg019><seg051> <loc0680><loc0465><loc0705><loc0475><seg028><seg041><seg028><seg106><seg042><seg077><seg023><seg082><seg022><seg061><seg077><seg022><seg015><seg028><seg060><seg051>, lifted slightly off the counter surface; the roll is being carried across the counter toward the target placement location." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 196830, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.004984423676012451, |
| "cdist_px": 22.549707343994942, |
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| "gen_text": "The table holds a cardboard box near the center-right, a white mug to the right, a red bowl of coffee beans, a spoon, and a keyboard to the left, and a cardboard box to the left; the gripper is open and positioned above the table surface, not yet near any object. @grip_now <loc0235><loc0430><loc0285><loc0455><seg092><seg008><seg041><seg066><seg022><seg066><seg021><seg022><seg022><seg106><seg066><seg082><seg095><seg041><seg089><seg088> <loc0200><loc0388><loc0247><loc0410><seg106><seg011><seg060><seg059><seg086><seg048><seg026><seg022><seg022><seg066><seg026><seg022><seg085><seg041><seg044><seg073> at its current open configuration." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 196870, |
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| "iou": 0.0, |
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| "gen_text": "The robot arm has descended and moved forward so the open gripper is now positioned above and just behind the cardboard box on the table; the gripper remains fully open at @grip_now <loc0587><loc0637><loc0636><loc0647><seg028><seg074><seg014><seg037><seg022><seg052><seg023><seg022><seg022><seg061><seg091><seg022><seg065><seg068><seg060><seg063> <loc0542><loc0562><loc0588><loc0573><seg052><seg041><seg014><seg023><seg104><seg106><seg023><seg022><seg022><seg062><seg091><seg022><seg065><seg028><seg060><seg063>." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 196910, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.07248764415156499, |
| "cdist_px": 9.97000361916104, |
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| "gen_text": "The gripper has descended and moved horizontally to hover just above the cardboard box on the table, fingers open and aligned to straddle the box's upper rim; the gripper is beginning to close at @grip_now <loc0697><loc0618><loc0735><loc0630><seg011><seg074><seg064><seg092><seg022><seg028><seg062><seg022><seg104><seg061><seg077><seg022><seg065><seg091><seg060><seg051> <loc0647><loc0567><loc0685><loc0579><seg068><seg041><seg014><seg092><seg022><seg052><seg026><seg022><seg104><seg117><seg091><seg022><seg065><seg028><seg060><seg063>." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 196948, |
| "t_rel": 118, |
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| "iou": 0.0, |
| "cdist_px": 14.739713330105193, |
| "box": [ |
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| "gen_text": "The gripper is at table level beside the cardboard box, with the finger pads now closing around the box's sides near the table surface; the gripper is mid-close, @grip_now <loc0724><loc0589><loc0760><loc0600><seg012><seg074><seg092><seg057><seg114><seg074><seg009><seg055><seg037><seg009><seg057><seg060><seg057><seg088><seg057><seg012> <loc0683><loc0546><loc0718><loc0556><seg012><seg074><seg064><seg009><seg074><seg074><seg009><seg055><seg066><seg009><seg057><seg060><seg057><seg088><seg057><seg012> in a partially closed, converging configuration." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 196988, |
| "t_rel": 158, |
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| "iou": 0.0, |
| "cdist_px": 14.51453266233624, |
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| "gen_text": "The gripper holds the cardboard box in a closed grip and has moved to a position above and near the white table surface; the wrist view shows the box held between the pads near the table surface, at @grip_now <loc0548><loc0542><loc0587><loc0549><seg012><seg041><seg037><seg009><seg041><seg114><seg009><seg023><seg048><seg009><seg057><seg060><seg089><seg079><seg057><seg012> <loc0541><loc0509><loc0585><loc0514><seg012><seg041><seg048><seg063><seg068><seg114><seg028><seg042><seg022><seg028><seg114><seg016><seg016><seg035><seg057><seg012>." |
| }, |
| { |
| "ep": 551, |
| "frame_abs": 197014, |
| "t_rel": 184, |
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| "iou": 0.0, |
| "cdist_px": 16.63581335388364, |
| "box": [ |
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| "gen_text": "The gripper is positioned directly over the cardboard box, with the finger pads closing around the box's sides near the rim; the box is still resting on the table beside the white mug, and the gripper is beginning to open. @grip_now <loc0616><loc0552><loc0647><loc0559><seg012><seg041><seg091><seg009><seg074><seg074><seg057><seg099><seg069><seg009><seg089><seg078><seg019><seg097><seg074><seg012> <loc0615><loc0521><loc0647><loc0528><seg012><seg041><seg052><seg004><seg041><seg114><seg074><seg088><seg092><seg009><seg089><seg078><seg019><seg098><seg074><seg012> shows the fingers parting from the pads." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197381, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.09356725146198827, |
| "cdist_px": 10.648477509970094, |
| "box": [ |
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| "gen_text": "The gripper is open and the arm is retracting away from the table; the white table surface and its scattered items are visible in the background, and the cardboard box is on the table to the right of the gripper. @grip_now <loc0088><loc0435><loc0140><loc0458><seg106><seg011><seg060><seg031><seg086><seg066><seg026><seg022><seg022><seg064><seg023><seg022><seg109><seg074><seg051><seg027> <loc0054><loc0408><loc0105><loc0430><seg026><seg077><seg078><seg018><seg104><seg029><seg071><seg082><seg022><seg064><seg023><seg022><seg093><seg114><seg051><seg073> is fully open." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197421, |
| "t_rel": 40, |
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| "iou": 0.046373365041617126, |
| "cdist_px": 17.345241588604754, |
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| "gen_text": "The white bowl sits on the round white table to the right of the cardboard box; a green marker and a white mug sit in the clear plastic container on the table; a small black cup sits to the left. The gripper is fully open and positioned high above the table, well clear of all objects, at @grip_now <loc0231><loc0467><loc0276><loc0483><seg023><seg052><seg078><seg068><seg104><seg048><seg064><seg082><seg090><seg011><seg038><seg054><seg039><seg078><seg099><seg055> <loc0235><loc0411><loc0275><loc0430><seg026><seg091><seg078><seg011><seg090><seg061><seg068><seg082><seg090><seg077><seg026><seg022><seg051><seg114><seg093><seg055>." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197461, |
| "t_rel": 80, |
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| "iou": 0.0, |
| "cdist_px": 19.469471054821252, |
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| "gen_text": "The gripper is now lower and closer to the table surface, hovering above the small green expo marker lying flat near the right edge of the white round tray; the white bowl and red-and-orange snack packages are visible in the background, and the gripper is open and descending toward the marker at @grip_now <loc0474><loc0492><loc0510><loc0502><seg023><seg028><seg114><seg064><seg086><seg023><seg026><seg022><seg022><seg064><seg023><seg022><seg109><seg074><seg051><seg073> <loc0502><loc0444><loc0539><loc0453><seg106><seg028><seg078><seg068><seg086><seg066><seg052><seg042><seg022><seg091><seg066><seg022><seg097><seg114><seg036><seg055>." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197501, |
| "t_rel": 120, |
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| "iou": 0.0, |
| "cdist_px": 17.76845404310342, |
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| "gen_text": "The gripper is now low and close above the table surface, positioned just above and around the green marker pen lying on the white table near the right-side of the white plate; the fingers are still open and converging on the marker. @grip_now <loc0625><loc0506><loc0659><loc0512><seg063><seg106><seg074><seg012><seg086><seg074><seg012><seg063><seg057><seg078><seg017><seg054><seg012><seg074><seg076><seg057> <loc0647><loc0458><loc0681><loc0465><seg044><seg092><seg074><seg012><seg030><seg009><seg078><seg057><seg057><seg012><seg009><seg062><seg012><seg074><seg095><seg004> at its current configuration." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197511, |
| "t_rel": 130, |
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| "iou": 0.0, |
| "cdist_px": 14.327720027337685, |
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| "gen_text": "The gripper is at the level of the marker lying on the table directly beside the white paper towel roll and green marker; the gripper is beginning to open slightly as the marker contact is made. @grip_now <loc0647><loc0496><loc0681><loc0502><seg012><seg041><seg106><seg011><seg004><seg114><seg009><seg056><seg029><seg009><seg074><seg003><seg039><seg073><seg057><seg012> <loc0645><loc0458><loc0678><loc0464><seg012><seg041><seg037><seg077><seg052><seg078><seg052><seg082><seg022><seg052><seg114><seg099><seg109><seg073><seg057><seg078> is transitioning to open." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197551, |
| "t_rel": 170, |
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| "iou": 0.1519213583556746, |
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| 0.4203323558162268, |
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| "gt_box": [ |
| 0.4291300097751711, |
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| 0.4789833822091887, |
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| "gen_text": "The gripper is holding the marker pen and has moved toward the paper cup on the table; the white mug sits on the table beside the gripper, and the teal bowl sits nearby. The gripper is beginning to open to release the marker. @grip_now <loc0430><loc0585><loc0473><loc0596><seg068><seg041><seg063><seg048><seg022><seg077><seg023><seg022><seg104><seg061><seg077><seg022><seg065><seg068><seg060><seg093> <loc0416><loc0546><loc0457><loc0558><seg091><seg041><seg011><seg106><seg022><seg052><seg023><seg082><seg022><seg026><seg052><seg082><seg047><seg004><seg019><seg017> at its configuration." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233450, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 34.88747460670103, |
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| 0.64613880742913, |
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| "gt_box": [ |
| 0.6236559139784946, |
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| "gen_text": "The green snack bag has been released into the cardboard box; the gripper is fully open and lifting clear of the box; the arm is retracting above the box at @grip_now <loc0661><loc0356><loc0704><loc0386><seg066><seg028><seg060><seg059><seg104><seg029><seg026><seg022><seg022><seg106><seg023><seg022><seg098><seg074><seg045><seg079> <loc0558><loc0326><loc0598><loc0353><seg023><seg028><seg114><seg059><seg086><seg061><seg026><seg022><seg022><seg071><seg029><seg042><seg098><seg074><seg036><seg049>." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233490, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 25.770436078669015, |
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| 0.6920821114369502, |
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| 0.718475073313783, |
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| "gt_box": [ |
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| "gen_text": "The gripper is beginning to open slightly while still gripping the green snack bag; the wrist view shows the bag resting on the shelf below and the box edge is visible at the right edge of frame. The gripper is beginning to open as the fingers start to open. @grip_now <loc0708><loc0589><loc0735><loc0607><seg091><seg009><seg009><seg071><seg022><seg092><seg026><seg022><seg022><seg062><seg092><seg082><seg065><seg004><seg057><seg099> <loc0640><loc0569><loc0662><loc0584><seg052><seg009><seg009><seg064><seg022><seg026><seg026><seg042><seg022><seg023><seg066><seg022><seg015><seg041><seg089><seg075> shows pads partially opening in a release configuration." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233498, |
| "t_rel": 48, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 28.066448284596632, |
| "box": [ |
| 0.6735092864125122, |
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| "gt_box": [ |
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| "gen_text": "The gripper is closing around the green snack bag on the shelf surface; the wrist view shows the bag filling the field of view with the cardboard box to the right. The gripper is actively closing, @grip_now <loc0689><loc0589><loc0714><loc0605><seg068><seg074><seg077><seg037><seg022><seg064><seg062><seg022><seg022><seg062><seg064><seg082><seg065><seg068><seg060><seg063> <loc0647><loc0576><loc0673><loc0590><seg077><seg041><seg068><seg026><seg022><seg052><seg023><seg022><seg022><seg117><seg077><seg022><seg015><seg028><seg060><seg051> in a closing configuration on the shelf surface." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233525, |
| "t_rel": 75, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 19.332708499125655, |
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| "gt_box": [ |
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| "gen_text": "The gripper is closing around the green snack bag on the shelf; the wrist view shows the bag filling the gap and the fingers are nearly seated on it. The gripper is mid-close, actively gripping the snack bag at @grip_now <loc0595><loc0637><loc0611><loc0649><seg064><seg077><seg078><seg009><seg022><seg048><seg068><seg042><seg119><seg011><seg062><seg022><seg089><seg078><seg098><seg073> <loc0558><loc0643><loc0575><loc0655><seg066><seg052><seg078><seg011><seg022><seg062><seg068><seg042><seg090><seg091><seg048><seg022><seg051><seg114><seg093><seg035>." |
| } |
| ], |
| "A_kf-8": [ |
| { |
| "ep": 48, |
| "frame_abs": 10655, |
| "t_rel": 32, |
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| "iou": 0.0, |
| "cdist_px": 21.58644632218474, |
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| "gen_text": "Continue descending and swinging the gripper nose toward the white cord, keeping the fingers open; align @grip <loc0432><loc0597><loc0467><loc0613><seg028><seg074><seg077><seg037><seg042><seg068><seg026><seg022><seg022><seg026><seg068><seg104><seg047><seg068><seg019><seg045> <loc0466><loc0585><loc0499><loc0601><seg028><seg074><seg017><seg066><seg022><seg091><seg023><seg022><seg022><seg062><seg068><seg104><seg015><seg077><seg060><seg045> over it." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10695, |
| "t_rel": 72, |
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| "iou": 0.0, |
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| "gen_text": "Retract the gripper upward and away from the spatula holder, keeping the hold at @grip <loc0388><loc0579><loc0422><loc0597><seg028><seg074><seg077><seg037><seg082><seg068><seg026><seg022><seg022><seg029><seg028><seg104><seg047><seg077><seg019><seg039> <loc0410><loc0573><loc0447><loc0589><seg011><seg074><seg091><seg106><seg042><seg068><seg023><seg022><seg022><seg026><seg028><seg104><seg070><seg028><seg019><seg039> until the cable is released." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10701, |
| "t_rel": 78, |
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| "iou": 0.0, |
| "cdist_px": 18.715508927152726, |
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| "gen_text": "Hold the gripper open and retracted \u2014 task is complete @grip <loc0454><loc0567><loc0484><loc0582><seg028><seg074><seg077><seg037><seg082><seg028><seg026><seg022><seg022><seg066><seg068><seg022><seg076><seg028><seg019><seg051> <loc0478><loc0551><loc0510><loc0567><seg028><seg074><seg068><seg037><seg082><seg077><seg026><seg082><seg022><seg062><seg028><seg022><seg076><seg052><seg060><seg045>." |
| }, |
| { |
| "ep": 48, |
| "frame_abs": 10741, |
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| "iou": 0.0, |
| "cdist_px": 86.28925716070489, |
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| "gen_text": "Continue descending and moving laterally toward the white cord, aligning the open gripper fingers on either side of the cord in preparation for grasping at @grip <loc0388><loc0664><loc0420><loc0679><seg011><seg074><seg052><seg048><seg042><seg068><seg023><seg022><seg022><seg026><seg028><seg104><seg047><seg077><seg019><seg039> <loc0408><loc0657><loc0441><loc0673><seg028><seg074><seg091><seg026><seg042><seg028><seg023><seg022><seg022><seg026><seg068><seg104><seg047><seg077><seg060><seg045>." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11095, |
| "t_rel": 32, |
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| "iou": 0.0, |
| "cdist_px": 19.158257994330334, |
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| "gen_text": "Hold the arm at the raised home position \u2014 keep the gripper open at @grip <loc0341><loc0665><loc0378><loc0682><seg028><seg074><seg091><seg106><seg042><seg077><seg023><seg022><seg022><seg062><seg028><seg104><seg015><seg017><seg060><seg045> <loc0337><loc0629><loc0377><loc0644><seg028><seg074><seg077><seg106><seg042><seg077><seg023><seg082><seg022><seg061><seg068><seg022><seg076><seg077><seg060><seg051> as the arm returns to a clear home position." |
| }, |
| { |
| "ep": 50, |
| "frame_abs": 11135, |
| "t_rel": 72, |
| "emitted": true, |
| "iou": 0.03260869565217389, |
| "cdist_px": 11.242806666858199, |
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| "gen_text": "Retract the gripper upward and away from the clear plastic bag, keeping the gripper open at @grip <loc0433><loc0585><loc0468><loc0597><seg078><seg041><seg052><seg052><seg017><seg078><seg077><seg082><seg022><seg028><seg114><seg072><seg058><seg075><seg089><seg078> <loc0401><loc0542><loc0437><loc0554><seg114><seg074><seg052><seg064><seg029><seg074><seg064><seg082><seg022><seg026><seg074><seg079><seg109><seg079><seg057><seg078> to clear the released green loop." |
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| { |
| "ep": 50, |
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| "gen_text": "Continue lifting and swinging the gripper upward and laterally while maintaining the closed hold on the green loop; maintain @grip <loc0440><loc0575><loc0474><loc0587><seg078><seg041><seg052><seg052><seg064><seg078><seg068><seg082><seg022><seg077><seg114><seg097><seg005><seg073><seg089><seg012> <loc0430><loc0551><loc0461><loc0561><seg012><seg041><seg048><seg017><seg064><seg078><seg052><seg090><seg022><seg052><seg114><seg088><seg109><seg055><seg057><seg078> closed throughout the transport." |
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| { |
| "ep": 50, |
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| "iou": 0.0, |
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| "gen_text": "Continue moving the gripper horizontally toward the clear plastic bag, adjusting wrist orientation as needed to keep the green loop securely held at @grip <loc0423><loc0655><loc0458><loc0669><seg052><seg041><seg028><seg023><seg082><seg064><seg026><seg022><seg104><seg054><seg068><seg022><seg076><seg077><seg019><seg051> <loc0422><loc0632><loc0458><loc0643><seg091><seg041><seg014><seg037><seg022><seg064><seg023><seg022><seg022><seg029><seg064><seg042><seg076><seg011><seg019><seg017>." |
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| { |
| "ep": 52, |
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| "gen_text": "Continue descending toward the target stuffed animal while keeping the gripper open at @grip <loc0379><loc0597><loc0412><loc0609><seg091><seg041><seg011><seg106><seg022><seg052><seg023><seg042><seg022><seg026><seg064><seg042><seg094><seg004><seg019><seg069> <loc0386><loc0557><loc0422><loc0569><seg064><seg009><seg009><seg106><seg022><seg106><seg026><seg042><seg022><seg066><seg106><seg082><seg015><seg041><seg089><seg088>, aligning the pads to bracket the target." |
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| { |
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| "iou": 0.0, |
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| "gen_text": "Hold the gripper open at @grip <loc0440><loc0567><loc0473><loc0579><seg028><seg074><seg077><seg037><seg082><seg077><seg029><seg104><seg022><seg061><seg091><seg022><seg076><seg068><seg019><seg093> <loc0448><loc0536><loc0477><loc0547><seg077><seg074><seg068><seg026><seg104><seg091><seg026><seg022><seg022><seg026><seg068><seg022><seg076><seg068><seg019><seg051> and retract upward away from the placed stuffed animal, completing the grasp." |
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| { |
| "ep": 52, |
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| "gen_text": "Continue moving the gripper forward and downward toward the target stuffed animal on the tabletop, keeping @grip <loc0202><loc0665><loc0244><loc0687><seg068><seg074><seg077><seg048><seg022><seg091><seg029><seg104><seg022><seg061><seg052><seg104><seg076><seg028><seg019><seg063> <loc0215><loc0656><loc0253><loc0677><seg068><seg074><seg068><seg026><seg022><seg091><seg023><seg022><seg022><seg061><seg091><seg022><seg076><seg028><seg060><seg063> firmly closed around the target." |
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| { |
| "ep": 52, |
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| "iou": 0.0, |
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| "gen_text": "Continue moving horizontally to the right across the table and begin descending toward the target stuffed animal on the table, maintaining the closed @grip <loc0378><loc0634><loc0407><loc0648><seg028><seg074><seg077><seg037><seg042><seg068><seg026><seg022><seg022><seg026><seg068><seg104><seg047><seg068><seg019><seg045> <loc0397><loc0628><loc0430><loc0642><seg011><seg074><seg068><seg037><seg042><seg068><seg023><seg022><seg022><seg106><seg068><seg022><seg085><seg004><seg019><seg045> throughout the arc." |
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| { |
| "ep": 52, |
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| "gen_text": "Continue descending toward the target stuffed animal on the table, keeping the open fingers down @grip <loc0278><loc0596><loc0310><loc0613><seg068><seg041><seg028><seg037><seg022><seg052><seg023><seg022><seg022><seg061><seg052><seg042><seg076><seg011><seg019><seg063> <loc0309><loc0578><loc0341><loc0595><seg068><seg041><seg014><seg037><seg022><seg052><seg023><seg022><seg022><seg026><seg091><seg022><seg085><seg004><seg019><seg036> to align the pads over the target target." |
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| { |
| "ep": 320, |
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| "gen_text": "Continue descending toward the small teal cube on the table, swinging the nose to align the open fingers around the cube @grip <loc0192><loc0000><loc0264><loc0001><seg074><seg074><seg048><seg106><seg056><seg041><seg066><seg022><seg022><seg026><seg041><seg125><seg095><seg023><seg057><seg060> <loc0157><loc0000><loc0239><loc0000><seg041><seg074><seg066><seg092><seg038><seg009><seg023><seg022><seg042><seg029><seg004><seg104><seg015><seg055><seg060><seg019>." |
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| { |
| "ep": 320, |
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| "gen_text": "Descend the final distance onto the teal cube, keeping the gripper open @grip <loc0275><loc0697><loc0313><loc0713><seg028><seg041><seg014><seg037><seg042><seg028><seg026><seg022><seg022><seg092><seg077><seg022><seg015><seg004><seg019><seg093> <loc0294><loc0656><loc0329><loc0670><seg077><seg041><seg014><seg092><seg022><seg052><seg026><seg022><seg022><seg117><seg091><seg022><seg065><seg028><seg060><seg063> and centered over it, ready to close." |
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| { |
| "ep": 320, |
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| "gen_text": "Open the fingers fully to release the teal cube into the white tray at @grip <loc0272><loc0646><loc0313><loc0662><seg068><seg074><seg091><seg048><seg104><seg077><seg023><seg022><seg022><seg026><seg068><seg022><seg047><seg028><seg019><seg045> <loc0283><loc0630><loc0327><loc0644><seg028><seg074><seg077><seg106><seg042><seg077><seg029><seg104><seg022><seg026><seg052><seg104><seg076><seg068><seg019><seg063>, then lift the gripper clear of the tray." |
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| { |
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| "gen_text": "Open the fingers fully to release the teal cube into the white tray, then lift the gripper straight up and away from the tray at @grip <loc0262><loc0637><loc0303><loc0655><seg028><seg074><seg075><seg023><seg042><seg077><seg023><seg022><seg104><seg062><seg028><seg086><seg076><seg052><seg060><seg045> <loc0285><loc0615><loc0325><loc0632><seg028><seg041><seg069><seg023><seg082><seg077><seg029><seg022><seg042><seg020><seg068><seg022><seg065><seg052><seg060><seg051>." |
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| { |
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| "gen_text": "Retract the gripper upward and away from the roll of paper towel, keeping @grip <loc0376><loc0562><loc0412><loc0579><seg077><seg074><seg068><seg023><seg104><seg091><seg023><seg022><seg022><seg026><seg077><seg022><seg015><seg011><seg019><seg051> <loc0338><loc0528><loc0372><loc0544><seg091><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg061><seg091><seg042><seg065><seg028><seg019><seg063> fully open to clear the roll and return to a neutral position." |
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| { |
| "ep": 401, |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0686><loc0451><loc0714><loc0462><seg068><seg041><seg036><seg066><seg042><seg077><seg023><seg022><seg022><seg026><seg091><seg022><seg015><seg011><seg019><seg093> <loc0661><loc0448><loc0685><loc0459><seg091><seg041><seg011><seg066><seg022><seg052><seg026><seg022><seg022><seg066><seg091><seg022><seg015><seg004><seg089><seg093>, seating the pads on the roll's sides before lifting." |
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| { |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0686><loc0457><loc0714><loc0468><seg066><seg028><seg114><seg059><seg104><seg061><seg092><seg022><seg022><seg106><seg037><seg022><seg098><seg041><seg039><seg088> <loc0661><loc0461><loc0685><loc0471><seg066><seg011><seg114><seg059><seg022><seg048><seg092><seg022><seg022><seg071><seg066><seg022><seg098><seg074><seg045><seg079> to secure a firm hold, then begin lifting upward." |
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| { |
| "ep": 401, |
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| "gen_text": "Open the gripper to release the roll of paper towel onto the counter surface, letting it settle, then begin lifting the arm upward out of the roll. @grip <loc0507><loc0466><loc0538><loc0477><seg068><seg074><seg017><seg048><seg082><seg077><seg062><seg022><seg022><seg026><seg091><seg104><seg070><seg011><seg019><seg051> <loc0486><loc0455><loc0515><loc0466><seg052><seg041><seg011><seg023><seg022><seg052><seg026><seg022><seg022><seg066><seg091><seg022><seg015><seg004><seg019><seg063>" |
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| { |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0686><loc0457><loc0714><loc0468><seg068><seg041><seg036><seg066><seg042><seg077><seg023><seg022><seg042><seg026><seg052><seg042><seg065><seg011><seg019><seg017> <loc0662><loc0450><loc0687><loc0462><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg061><seg091><seg022><seg015><seg004><seg019><seg093> to secure a grip on it, then begin lifting upward." |
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| { |
| "ep": 551, |
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| "gen_text": "Continue descending and swinging the nose toward the small green marker lying on the table surface, aligning @grip <loc0388><loc0626><loc0440><loc0636><seg051><seg066><seg074><seg012><seg086><seg041><seg078><seg044><seg057><seg078><seg014><seg038><seg012><seg074><seg015><seg004> <loc0420><loc0560><loc0465><loc0571><seg077><seg041><seg011><seg092><seg022><seg052><seg029><seg042><seg022><seg026><seg106><seg042><seg015><seg009><seg089><seg075> fingers over the target marker on the table." |
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| { |
| "ep": 551, |
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| "gen_text": "Continue the final descent into the mug opening, aligning the finger pads over the box's sides @grip <loc0666><loc0630><loc0704><loc0643><seg028><seg074><seg075><seg048><seg082><seg028><seg023><seg022><seg104><seg061><seg028><seg086><seg065><seg064><seg060><seg045> <loc0606><loc0575><loc0643><loc0587><seg028><seg074><seg077><seg106><seg022><seg052><seg029><seg104><seg022><seg038><seg077><seg022><seg015><seg077><seg060><seg051> so the pads are ready to close." |
| }, |
| { |
| "ep": 551, |
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| "gen_text": "Close the fingers firmly around the cardboard box's sides at @grip <loc0732><loc0618><loc0769><loc0630><seg114><seg074><seg092><seg064><seg023><seg074><seg026><seg022><seg022><seg106><seg009><seg125><seg015><seg064><seg057><seg019> <loc0703><loc0595><loc0739><loc0607><seg004><seg074><seg052><seg066><seg042><seg028><seg023><seg022><seg104><seg023><seg028><seg086><seg076><seg064><seg060><seg039> to secure a grasp on its body before lifting." |
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| { |
| "ep": 551, |
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| "gen_text": "Lift the open gripper @grip <loc0561><loc0535><loc0606><loc0544><seg052><seg041><seg036><seg023><seg104><seg092><seg023><seg022><seg022><seg048><seg052><seg042><seg076><seg011><seg060><seg017> <loc0552><loc0493><loc0598><loc0502><seg052><seg041><seg014><seg048><seg022><seg052><seg062><seg042><seg022><seg106><seg106><seg022><seg095><seg041><seg089><seg099> upward and retract away from the white table, completing the placement of the cardboard box over the white table." |
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| { |
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| "gen_text": "Open the fingers to release the cardboard box, then retract the gripper upward and away from the box; release @grip <loc0629><loc0553><loc0662><loc0562><seg012><seg041><seg091><seg009><seg074><seg074><seg057><seg088><seg075><seg009><seg089><seg078><seg019><seg098><seg074><seg012> <loc0627><loc0528><loc0662><loc0534><seg012><seg041><seg106><seg009><seg041><seg114><seg041><seg021><seg023><seg009><seg074><seg060><seg089><seg088><seg057><seg012> onto the table surface." |
| }, |
| { |
| "ep": 553, |
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| "gen_text": "Continue descending toward the green marker on the table, swinging the nose to align the finger pads around the marker's barrel \u2014 @grip <loc0192><loc0456><loc0239><loc0474><seg026><seg028><seg114><seg031><seg086><seg023><seg092><seg022><seg022><seg064><seg066><seg022><seg109><seg074><seg045><seg073> <loc0184><loc0412><loc0231><loc0430><seg106><seg068><seg078><seg068><seg022><seg061><seg064><seg082><seg022><seg064><seg023><seg042><seg109><seg074><seg036><seg049> open as you close the remaining vertical gap." |
| }, |
| { |
| "ep": 553, |
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| "gen_text": "Continue descending toward the green marker on the table, swinging the nose forward and down to align the finger pads over the marker's barrel \u2014 @grip <loc0456><loc0462><loc0495><loc0471><seg014><seg026><seg074><seg012><seg119><seg028><seg078><seg014><seg093><seg078><seg068><seg082><seg012><seg074><seg076><seg014> <loc0489><loc0405><loc0528><loc0417><seg051><seg023><seg114><seg012><seg119><seg077><seg078><seg017><seg017><seg078><seg077><seg082><seg012><seg114><seg049><seg063> open wide as you close the lateral gap." |
| }, |
| { |
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| "gen_text": "Continue descending toward the green marker on the table with the open gripper; pitch the nose down slightly to align the finger pads over the marker's barrel, maintaining @grip <loc0595><loc0510><loc0629><loc0517><seg009><seg074><seg064><seg092><seg042><seg011><seg023><seg022><seg022><seg029><seg011><seg086><seg015><seg092><seg060><seg003> <loc0595><loc0455><loc0629><loc0462><seg011><seg074><seg077><seg037><seg042><seg028><seg026><seg022><seg022><seg026><seg028><seg104><seg070><seg028><seg019><seg045> open for the final approach." |
| }, |
| { |
| "ep": 553, |
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| "gen_text": "Continue descending onto the green marker lying on the table, swinging the nose tip down to seat the pads around the marker's barrel, ready to close at @grip <loc0606><loc0510><loc0639><loc0517><seg012><seg074><seg052><seg074><seg114><seg074><seg057><seg075><seg052><seg057><seg057><seg114><seg019><seg017><seg057><seg012> <loc0606><loc0457><loc0638><loc0463><seg012><seg041><seg052><seg009><seg114><seg074><seg057><seg075><seg064><seg057><seg057><seg060><seg019><seg098><seg074><seg012>." |
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| { |
| "ep": 553, |
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| "gen_text": "Continue descending onto the marker on the table with the open gripper, aligning the pads around the marker's barrel before closing \u2014 @grip <loc0429><loc0560><loc0467><loc0569><seg092><seg011><seg114><seg031><seg022><seg026><seg064><seg022><seg022><seg106><seg106><seg022><seg058><seg074><seg044><seg073> <loc0427><loc0533><loc0464><loc0542><seg092><seg011><seg114><seg018><seg086><seg066><seg064><seg022><seg022><seg052><seg026><seg082><seg097><seg074><seg045><seg055>." |
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| { |
| "ep": 691, |
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| "gen_text": "Retract the gripper upward and away from the cardboard box, holding @grip <loc0671><loc0520><loc0705><loc0541><seg068><seg041><seg077><seg023><seg022><seg052><seg023><seg022><seg022><seg061><seg077><seg022><seg076><seg068><seg060><seg093> <loc0587><loc0508><loc0618><loc0528><seg091><seg041><seg011><seg066><seg022><seg092><seg023><seg022><seg022><seg062><seg052><seg082><seg065><seg028><seg060><seg017> fully open to complete the release." |
| }, |
| { |
| "ep": 691, |
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| "gen_text": "Retract the gripper upward and away from the cardboard box, keeping the closed hold @grip <loc0671><loc0634><loc0704><loc0652><seg028><seg074><seg077><seg037><seg042><seg068><seg029><seg090><seg022><seg026><seg091><seg022><seg015><seg028><seg019><seg093> <loc0611><loc0614><loc0638><loc0630><seg077><seg074><seg036><seg066><seg104><seg052><seg026><seg022><seg022><seg029><seg077><seg022><seg015><seg028><seg019><seg051> on the green snack bag to complete the grasp." |
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| { |
| "ep": 691, |
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| "gen_text": "Open the gripper to release the green snack bag, letting it drop into the cardboard box interior; spread the fingers wide as the bag contacts the box floor. @grip <loc0606><loc0631><loc0625><loc0644><seg064><seg011><seg114><seg018><seg022><seg061><seg106><seg082><seg022><seg092><seg023><seg022><seg016><seg074><seg045><seg075> <loc0568><loc0631><loc0585><loc0644><seg023><seg028><seg114><seg031><seg086><seg061><seg092><seg022><seg022><seg064><seg066><seg082><seg016><seg074><seg045><seg073>" |
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| { |
| "ep": 691, |
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| "gen_text": "Retract the gripper upward and away from the cardboard box, keeping the gripper open at @grip <loc0590><loc0637><loc0613><loc0650><seg092><seg008><seg057><seg071><seg022><seg092><seg026><seg022><seg022><seg064><seg106><seg022><seg109><seg074><seg039><seg099> <loc0543><loc0642><loc0563><loc0657><seg023><seg004><seg074><seg071><seg086><seg026><seg026><seg022><seg086><seg092><seg066><seg042><seg058><seg041><seg039><seg088> as the arm retreats to a clear position above the shelf." |
| } |
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| "A_kf": [ |
| { |
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| "gen_text": "Continue descending and moving horizontally toward the white cord, keeping @grip <loc0391><loc0664><loc0422><loc0683><seg074><seg074><seg048><seg092><seg054><seg009><seg023><seg022><seg022><seg026><seg008><seg104><seg015><seg106><seg074><seg060> <loc0363><loc0626><loc0395><loc0644><seg074><seg074><seg066><seg092><seg054><seg009><seg023><seg022><seg104><seg023><seg004><seg104><seg070><seg075><seg057><seg019> open as the cord contacts the table surface." |
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| { |
| "ep": 48, |
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| "gen_text": "Continue descending and swinging the gripper nose toward the white cord, keeping the fingers open and aligned over the cord for a second grasp; target @grip <loc0430><loc0606><loc0462><loc0623><seg028><seg074><seg077><seg037><seg042><seg077><seg029><seg022><seg104><seg042><seg068><seg022><seg076><seg017><seg019><seg045> <loc0459><loc0592><loc0493><loc0609><seg011><seg074><seg091><seg106><seg042><seg028><seg023><seg022><seg022><seg026><seg028><seg104><seg047><seg077><seg019><seg039> over the cord." |
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| { |
| "ep": 48, |
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| "gen_text": "Hold the gripper open and retracted \u2014 task is complete @grip <loc0454><loc0567><loc0484><loc0582><seg028><seg074><seg077><seg037><seg082><seg077><seg026><seg022><seg022><seg038><seg028><seg104><seg015><seg017><seg060><seg039> <loc0478><loc0557><loc0510><loc0574><seg028><seg074><seg017><seg048><seg082><seg077><seg023><seg022><seg022><seg061><seg068><seg086><seg076><seg077><seg060><seg045>." |
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| { |
| "ep": 48, |
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| "gen_text": "Open the gripper fully to release the white cord onto the spatula, then lift the hand away from the pen. @grip <loc0419><loc0566><loc0451><loc0582><seg091><seg041><seg036><seg048><seg022><seg052><seg061><seg022><seg022><seg061><seg052><seg082><seg065><seg028><seg060><seg017> <loc0443><loc0560><loc0474><loc0577><seg091><seg041><seg028><seg066><seg042><seg052><seg023><seg022><seg042><seg026><seg052><seg082><seg076><seg011><seg019><seg017>" |
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| { |
| "ep": 48, |
| "frame_abs": 10749, |
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| "gen_text": "Continue moving horizontally toward the wooden mallet pen, pitching the nose downward to align the gripper pads on either side of the cord, keeping @grip <loc0192><loc0664><loc0230><loc0683><seg011><seg074><seg091><seg106><seg042><seg077><seg023><seg022><seg022><seg062><seg028><seg104><seg015><seg017><seg060><seg003> <loc0186><loc0652><loc0230><loc0672><seg028><seg074><seg052><seg026><seg042><seg077><seg023><seg022><seg042><seg054><seg028><seg086><seg076><seg064><seg060><seg039> open as you approach." |
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| { |
| "ep": 50, |
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| "gen_text": "Hold the arm at the raised home position \u2014 the gripper is opening as the arm retreats, away from the bag at @grip <loc0037><loc0667><loc0093><loc0689><seg012><seg074><seg023><seg089><seg009><seg114><seg044><seg054><seg062><seg004><seg074><seg039><seg039><seg079><seg057><seg012> <loc0004><loc0632><loc0062><loc0657><seg012><seg074><seg023><seg014><seg028><seg078><seg036><seg082><seg042><seg028><seg114><seg016><seg051><seg035><seg089><seg012>." |
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| { |
| "ep": 50, |
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| "gen_text": "Continue lifting and moving the gripper upward and back toward the neutral resting position, keeping @grip <loc0372><loc0637><loc0407><loc0650><seg028><seg074><seg091><seg106><seg042><seg077><seg023><seg022><seg022><seg062><seg028><seg104><seg015><seg017><seg060><seg045> <loc0380><loc0609><loc0422><loc0625><seg028><seg074><seg077><seg037><seg042><seg068><seg023><seg022><seg022><seg066><seg077><seg022><seg085><seg011><seg019><seg045> fully open as the arm withdraws." |
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| { |
| "ep": 50, |
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| "gen_text": "Continue lifting the green loop upward and away from the clear plastic bag, keeping the arm fully open @grip <loc0447><loc0567><loc0478><loc0578><seg091><seg041><seg036><seg023><seg022><seg064><seg023><seg022><seg022><seg061><seg091><seg022><seg076><seg011><seg060><seg093> <loc0446><loc0538><loc0476><loc0547><seg091><seg041><seg009><seg037><seg022><seg052><seg106><seg022><seg022><seg026><seg052><seg082><seg065><seg004><seg057><seg017> as the arm returns to a clear home position." |
| }, |
| { |
| "ep": 50, |
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| "gen_text": "Continue moving horizontally toward the clear plastic bag and begin descending to lower the green loop into the bag opening, maintaining @grip <loc0451><loc0570><loc0480><loc0582><seg078><seg041><seg052><seg052><seg017><seg078><seg077><seg082><seg022><seg028><seg114><seg072><seg058><seg092><seg089><seg078> <loc0435><loc0545><loc0465><loc0556><seg078><seg041><seg052><seg052><seg064><seg078><seg028><seg022><seg022><seg052><seg114><seg109><seg005><seg021><seg057><seg012> closed." |
| }, |
| { |
| "ep": 50, |
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| "gen_text": "Open the gripper to release the green loop into the clear plastic bag, spreading the fingers open as the loop is released. @grip <loc0636><loc0662><loc0670><loc0675><seg068><seg074><seg068><seg048><seg042><seg028><seg066><seg022><seg022><seg066><seg068><seg104><seg065><seg028><seg019><seg051> <loc0635><loc0642><loc0665><loc0652><seg028><seg074><seg068><seg037><seg022><seg068><seg106><seg022><seg022><seg026><seg028><seg104><seg047><seg068><seg019><seg045>" |
| }, |
| { |
| "ep": 52, |
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| "gen_text": "Continue descending and swinging the gripper nose down toward the target stuffed animal on the tabletop, keeping fingers open and aligned to straddle the target at @grip <loc0192><loc0666><loc0230><loc0685><seg004><seg074><seg091><seg106><seg042><seg028><seg023><seg022><seg022><seg061><seg028><seg104><seg015><seg017><seg060><seg003> <loc0210><loc0637><loc0248><loc0655><seg011><seg074><seg052><seg106><seg042><seg028><seg023><seg022><seg022><seg061><seg028><seg104><seg070><seg077><seg060><seg039>." |
| }, |
| { |
| "ep": 52, |
| "frame_abs": 11685, |
| "t_rel": 40, |
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| "gen_text": "Continue descending toward the target stuffed animal while keeping the gripper open at @grip <loc0434><loc0581><loc0467><loc0595><seg028><seg074><seg077><seg037><seg082><seg077><seg029><seg104><seg022><seg042><seg077><seg022><seg076><seg091><seg060><seg051> <loc0443><loc0546><loc0476><loc0558><seg028><seg074><seg077><seg037><seg022><seg068><seg056><seg022><seg022><seg023><seg091><seg022><seg085><seg028><seg060><seg051>, aligning the finger pads over the target stuffed animal's body." |
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| { |
| "ep": 52, |
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| "gen_text": "Open the fingers to release the stuffed animal into the table surface, then retract the gripper upward and away. @grip <loc0451><loc0561><loc0480><loc0573><seg004><seg074><seg091><seg048><seg042><seg011><seg091><seg082><seg104><seg023><seg074><seg010><seg070><seg069><seg057><seg060> <loc0448><loc0539><loc0479><loc0549><seg011><seg074><seg077><seg048><seg082><seg068><seg106><seg022><seg104><seg061><seg004><seg104><seg070><seg077><seg057><seg003>" |
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| { |
| "ep": 52, |
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| "gen_text": "Continue moving the gripper forward and downward toward the target stuffed animal on the table, keeping @grip <loc0145><loc0591><loc0186><loc0611><seg011><seg074><seg091><seg106><seg022><seg077><seg023><seg022><seg022><seg020><seg028><seg104><seg015><seg017><seg060><seg039> <loc0152><loc0581><loc0190><loc0599><seg028><seg074><seg075><seg048><seg022><seg068><seg023><seg022><seg022><seg061><seg028><seg086><seg076><seg052><seg060><seg039> firmly closed around the target." |
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| { |
| "ep": 52, |
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| "gen_text": "Continue descending toward the target stuffed animal, keeping @grip <loc0368><loc0607><loc0397><loc0623><seg028><seg074><seg077><seg037><seg082><seg077><seg029><seg022><seg022><seg038><seg068><seg022><seg015><seg077><seg060><seg045> <loc0397><loc0607><loc0422><loc0625><seg028><seg074><seg091><seg026><seg022><seg077><seg054><seg104><seg022><seg061><seg064><seg042><seg076><seg011><seg019><seg063> open and converging so the fingers bracket the target at @grip <loc0375><loc0599><loc0407><loc0614><seg028><seg074><seg017><seg066><seg042><seg091><seg054><seg104><seg022><seg026><seg064><seg104><seg070><seg011><seg019><seg036> <loc0401><loc0598><loc0429><loc0613><seg028><seg074><seg069><seg023><seg022><seg028><seg023><seg022><seg022><seg066><seg068><seg104><seg070><seg011><seg019><seg045>." |
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| { |
| "ep": 320, |
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| "gen_text": "Continue descending toward the small teal cube, keeping the gripper open @grip <loc0192><loc0696><loc0238><loc0717><seg028><seg074><seg075><seg023><seg082><seg068><seg062><seg022><seg104><seg061><seg091><seg022><seg030><seg077><seg060><seg093> <loc0168><loc0647><loc0222><loc0665><seg068><seg074><seg077><seg026><seg022><seg091><seg029><seg104><seg022><seg062><seg052><seg022><seg065><seg077><seg060><seg063> and aligning the finger gap over the cube's body." |
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| { |
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| "gen_text": "Lift the gripper upward and retract it away from the white tray, keeping the fingers fully open @grip <loc0347><loc0650><loc0380><loc0663><seg028><seg074><seg075><seg048><seg082><seg028><seg023><seg022><seg022><seg026><seg011><seg104><seg070><seg028><seg019><seg003> <loc0344><loc0627><loc0377><loc0640><seg028><seg074><seg069><seg026><seg042><seg028><seg023><seg082><seg022><seg066><seg068><seg022><seg076><seg068><seg019><seg051> as the arm returns to a clear resting position." |
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| { |
| "ep": 320, |
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| "gen_text": "Open the fingers fully to release the teal cube into the white tray, then lift the gripper straight up and away from the tray at @grip <loc0262><loc0637><loc0303><loc0655><seg028><seg074><seg075><seg023><seg042><seg077><seg023><seg022><seg104><seg062><seg028><seg086><seg076><seg052><seg060><seg045> <loc0285><loc0615><loc0325><loc0632><seg028><seg041><seg069><seg023><seg082><seg077><seg029><seg022><seg042><seg020><seg068><seg022><seg065><seg052><seg060><seg051>." |
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| { |
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| "gen_text": "Descend the roll of paper towel onto the counter surface beside the white bowl, aligning the gripper fingers around the roll's roll's sides, maintaining @grip <loc0408><loc0660><loc0451><loc0676><seg028><seg074><seg017><seg066><seg082><seg068><seg023><seg022><seg104><seg026><seg068><seg022><seg076><seg068><seg019><seg051> <loc0389><loc0609><loc0429><loc0625><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg117><seg091><seg022><seg065><seg028><seg060><seg017> open for the imminent grasp." |
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| { |
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| "gen_text": "Retract the gripper upward and away from the roll of paper towel, keeping @grip <loc0378><loc0513><loc0407><loc0530><seg077><seg041><seg068><seg026><seg104><seg064><seg023><seg022><seg022><seg062><seg091><seg022><seg076><seg068><seg060><seg093> <loc0329><loc0494><loc0359><loc0510><seg052><seg009><seg036><seg066><seg022><seg106><seg029><seg022><seg022><seg062><seg064><seg082><seg015><seg011><seg019><seg017> fully open to clear the roll and return to a neutral position." |
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| { |
| "ep": 401, |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0686><loc0454><loc0714><loc0465><seg068><seg041><seg036><seg066><seg042><seg077><seg023><seg022><seg022><seg066><seg052><seg082><seg065><seg011><seg019><seg017> <loc0659><loc0455><loc0685><loc0467><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg023><seg091><seg022><seg015><seg004><seg019><seg093> to secure a grip on the roll's cylindrical surface before lifting." |
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| { |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0686><loc0457><loc0714><loc0468><seg068><seg041><seg036><seg066><seg042><seg077><seg023><seg022><seg042><seg026><seg091><seg042><seg065><seg011><seg019><seg063> <loc0661><loc0457><loc0687><loc0468><seg052><seg041><seg014><seg066><seg104><seg092><seg026><seg022><seg022><seg062><seg091><seg022><seg015><seg011><seg019><seg093> to secure a grip on the roll's cylindrical surface before lifting." |
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| { |
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| "gen_text": "Retract the gripper upward and away from the roll of paper towel, keeping @grip <loc0546><loc0504><loc0580><loc0517><seg068><seg041><seg036><seg066><seg022><seg077><seg023><seg022><seg042><seg026><seg091><seg082><seg065><seg011><seg019><seg017> <loc0520><loc0486><loc0547><loc0498><seg052><seg041><seg014><seg066><seg022><seg064><seg026><seg022><seg022><seg061><seg091><seg022><seg015><seg004><seg057><seg063> fully open to clear the roll and return to a neutral position." |
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| { |
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| "gen_text": "Close the gripper firmly around the roll of paper towel @grip <loc0711><loc0480><loc0739><loc0492><seg068><seg041><seg036><seg066><seg042><seg077><seg023><seg022><seg042><seg026><seg052><seg042><seg065><seg011><seg019><seg017> <loc0682><loc0471><loc0711><loc0481><seg052><seg041><seg028><seg023><seg022><seg052><seg023><seg022><seg022><seg066><seg091><seg022><seg015><seg004><seg019><seg093> to secure a grasp on the roll's body before lifting." |
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| { |
| "ep": 551, |
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| "gen_text": "Continue descending and swinging the gripper nose toward the cardboard box, keeping fingers open and aligning @grip <loc0331><loc0454><loc0376><loc0473><seg023><seg064><seg078><seg087><seg104><seg048><seg091><seg082><seg022><seg028><seg038><seg054><seg045><seg078><seg072><seg021> <loc0304><loc0412><loc0345><loc0430><seg106><seg092><seg078><seg011><seg022><seg062><seg068><seg082><seg022><seg028><seg029><seg022><seg044><seg078><seg098><seg073> over the box's side, ready to close." |
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| { |
| "ep": 551, |
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| "gen_text": "Continue descending directly onto the small green block, aligning the finger pads over its sides in preparation for grasping @grip <loc0587><loc0628><loc0631><loc0638><seg060><seg074><seg061><seg052><seg078><seg068><seg022><seg082><seg114><seg114><seg027><seg070><seg077><seg057><seg114> <loc0533><loc0560><loc0579><loc0570><seg028><seg041><seg028><seg037><seg022><seg077><seg023><seg022><seg022><seg026><seg091><seg022><seg076><seg011><seg057><seg063>." |
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| { |
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| "gen_text": "Lift the open gripper straight up and retract away from the placed cardboard box, clearing the placed marker; keep @grip <loc0594><loc0616><loc0636><loc0632><seg114><seg074><seg106><seg092><seg062><seg041><seg026><seg082><seg022><seg026><seg008><seg125><seg015><seg026><seg074><seg060> <loc0543><loc0562><loc0585><loc0576><seg004><seg074><seg064><seg066><seg042><seg028><seg026><seg022><seg042><seg054><seg004><seg104><seg076><seg106><seg060><seg003> fully open throughout the retreat." |
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| { |
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| "gen_text": "Close the fingers fully to secure the cardboard box in the pads, then begin lifting upward away from the table surface @grip <loc0721><loc0600><loc0760><loc0613><seg114><seg074><seg052><seg092><seg029><seg114><seg071><seg082><seg022><seg066><seg074><seg010><seg095><seg026><seg057><seg060> <loc0689><loc0571><loc0724><loc0581><seg074><seg074><seg066><seg092><seg062><seg009><seg023><seg022><seg042><seg029><seg004><seg104><seg015><seg026><seg060><seg019>." |
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| { |
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| "gen_text": "Open the fingers to release the cardboard box, then retract the gripper upward and away from the box; let @grip <loc0557><loc0533><loc0597><loc0541><seg012><seg041><seg037><seg091><seg092><seg078><seg077><seg082><seg022><seg052><seg114><seg099><seg005><seg035><seg057><seg012> <loc0542><loc0502><loc0585><loc0508><seg078><seg041><seg048><seg052><seg064><seg078><seg052><seg082><seg022><seg052><seg114><seg079><seg109><seg073><seg057><seg078> open as the fingers clear the box." |
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| { |
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| "gen_text": "Open the fingers to release the cardboard box, then retract the gripper upward and away from the box; release @grip <loc0630><loc0553><loc0662><loc0560><seg012><seg041><seg091><seg084><seg041><seg114><seg074><seg088><seg075><seg009><seg089><seg078><seg019><seg058><seg074><seg012> <loc0630><loc0526><loc0662><loc0533><seg012><seg041><seg052><seg009><seg114><seg074><seg074><seg099><seg052><seg057><seg089><seg078><seg019><seg017><seg057><seg012> open to complete the release." |
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| { |
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| "gen_text": "Continue descending and converging toward the green marker lying on the white round table surface, adjusting horizontally to center the fingers around the marker's body \u2014 @grip <loc0198><loc0428><loc0240><loc0451><seg026><seg028><seg114><seg059><seg104><seg061><seg026><seg022><seg022><seg106><seg023><seg022><seg098><seg074><seg045><seg073> <loc0157><loc0403><loc0198><loc0422><seg023><seg028><seg114><seg071><seg022><seg029><seg026><seg042><seg022><seg106><seg023><seg022><seg058><seg074><seg014><seg027> open and converging as you close in." |
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| { |
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| "gen_text": "Continue descending toward the green marker on the white paper roll, swinging the nose to align the finger pads around the marker's barrel \u2014 @grip <loc0331><loc0458><loc0369><loc0473><seg023><seg064><seg078><seg028><seg022><seg048><seg077><seg042><seg119><seg011><seg048><seg022><seg044><seg078><seg097><seg073> <loc0337><loc0401><loc0374><loc0417><seg092><seg064><seg078><seg009><seg022><seg062><seg068><seg120><seg022><seg028><seg062><seg022><seg044><seg078><seg058><seg055> open as you close the remaining vertical gap." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197461, |
| "t_rel": 80, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 35.657080033677815, |
| "box": [ |
| 0.4467253176930596, |
| 0.4555229716520039, |
| 0.4838709677419355, |
| 0.46529814271749753 |
| ], |
| "gt_box": [ |
| 0.4946236559139785, |
| 0.5034213098729228, |
| 0.5454545454545454, |
| 0.5102639296187683 |
| ], |
| "gen_text": "Continue descending toward the green marker on the table, swinging the nose forward and downward so the pads align over the marker's barrel at @grip <loc0457><loc0466><loc0495><loc0476><seg012><seg074><seg117><seg063><seg052><seg078><seg075><seg090><seg022><seg052><seg114><seg055><seg109><seg010><seg057><seg012> <loc0480><loc0409><loc0517><loc0421><seg012><seg041><seg061><seg017><seg106><seg078><seg075><seg082><seg022><seg064><seg114><seg073><seg109><seg035><seg057><seg078>." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197501, |
| "t_rel": 120, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 31.491232078440753, |
| "box": [ |
| 0.5571847507331378, |
| 0.49853372434017595, |
| 0.5894428152492669, |
| 0.5053763440860215 |
| ], |
| "gt_box": [ |
| 0.6344086021505376, |
| 0.5180840664711632, |
| 0.6735092864125122, |
| 0.5239491691104594 |
| ], |
| "gen_text": "Continue descending toward the green marker on the table with the open gripper; pitch the nose down until the pads are level with the marker's barrel; keep @grip <loc0570><loc0510><loc0603><loc0517><seg012><seg074><seg048><seg063><seg052><seg078><seg088><seg090><seg022><seg091><seg114><seg027><seg085><seg073><seg057><seg078> <loc0558><loc0455><loc0595><loc0462><seg078><seg041><seg037><seg052><seg106><seg078><seg092><seg082><seg022><seg052><seg114><seg049><seg085><seg073><seg057><seg114> open and converging." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197511, |
| "t_rel": 130, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 9.353158291623197, |
| "box": [ |
| 0.6373411534701857, |
| 0.4916911045943304, |
| 0.6725317693059628, |
| 0.49853372434017595 |
| ], |
| "gt_box": [ |
| 0.6529814271749755, |
| 0.5024437927663734, |
| 0.6920821114369502, |
| 0.509286412512219 |
| ], |
| "gen_text": "Close the fingers firmly around the green marker; achieve @grip <loc0652><loc0503><loc0688><loc0510><seg114><seg041><seg091><seg037><seg026><seg078><seg087><seg042><seg022><seg091><seg114><seg099><seg085><seg075><seg057><seg078> <loc0638><loc0483><loc0673><loc0490><seg078><seg041><seg037><seg091><seg064><seg078><seg092><seg082><seg022><seg052><seg114><seg049><seg070><seg106><seg057><seg114> closed on the marker, then begin lifting upward." |
| }, |
| { |
| "ep": 553, |
| "frame_abs": 197551, |
| "t_rel": 170, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 11.843586935926329, |
| "box": [ |
| 0.4173998044965787, |
| 0.5640273704789834, |
| 0.458455522971652, |
| 0.5747800586510264 |
| ], |
| "gt_box": [ |
| 0.4291300097751711, |
| 0.5777126099706745, |
| 0.4789833822091887, |
| 0.5933528836754643 |
| ], |
| "gen_text": "Continue descending toward the marker on the white paper; align the finger pads squarely around the marker's barrel before closing @grip <loc0427><loc0577><loc0469><loc0588><seg028><seg074><seg068><seg037><seg042><seg028><seg026><seg022><seg022><seg066><seg068><seg022><seg047><seg028><seg019><seg045> <loc0416><loc0541><loc0457><loc0551><seg052><seg041><seg014><seg023><seg104><seg064><seg026><seg022><seg022><seg023><seg091><seg022><seg076><seg011><seg060><seg063>." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233450, |
| "t_rel": 0, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 94.89492191430413, |
| "box": [ |
| 0.6735092864125122, |
| 0.44281524926686217, |
| 0.718475073313783, |
| 0.46725317693059626 |
| ], |
| "gt_box": [ |
| 0.6236559139784946, |
| 0.2932551319648094, |
| 0.6695992179863147, |
| 0.3255131964809384 |
| ], |
| "gen_text": "Continue descending toward the green snack bag on the shelf and begin converging the fingers around its body; align the finger pads with the bag's long axis \u2014 @grip <loc0689><loc0453><loc0735><loc0478><seg068><seg035><seg078><seg012><seg090><seg092><seg078><seg092><seg055><seg114><seg064><seg022><seg078><seg078><seg015><seg069> <loc0588><loc0403><loc0626><loc0427><seg052><seg023><seg078><seg012><seg119><seg026><seg078><seg048><seg125><seg114><seg066><seg022><seg114><seg078><seg015><seg075>." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233490, |
| "t_rel": 40, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 42.53279264240397, |
| "box": [ |
| 0.6559139784946236, |
| 0.6197458455522972, |
| 0.6881720430107527, |
| 0.6373411534701857 |
| ], |
| "gt_box": [ |
| 0.6334310850439883, |
| 0.5581622678396871, |
| 0.6539589442815249, |
| 0.5698924731182796 |
| ], |
| "gen_text": "Retract the gripper upward and away from the cardboard box, keeping the closed hold @grip <loc0671><loc0634><loc0704><loc0652><seg028><seg074><seg077><seg037><seg042><seg068><seg029><seg090><seg022><seg026><seg091><seg022><seg015><seg028><seg019><seg093> <loc0611><loc0614><loc0638><loc0630><seg077><seg074><seg036><seg066><seg104><seg052><seg026><seg022><seg022><seg029><seg077><seg022><seg015><seg028><seg019><seg051> on the green snack bag to complete the grasp." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233498, |
| "t_rel": 48, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 36.82562663668319, |
| "box": [ |
| 0.6695992179863147, |
| 0.5972629521016618, |
| 0.6989247311827957, |
| 0.6148582600195504 |
| ], |
| "gt_box": [ |
| 0.6070381231671554, |
| 0.5562072336265884, |
| 0.6275659824046921, |
| 0.5689149560117303 |
| ], |
| "gen_text": "Open the gripper to release the green snack bag, then retract the arm upward and away from the box at @grip <loc0685><loc0611><loc0715><loc0629><seg068><seg074><seg077><seg037><seg042><seg091><seg023><seg022><seg042><seg038><seg068><seg022><seg065><seg091><seg060><seg051> <loc0640><loc0596><loc0666><loc0612><seg028><seg074><seg091><seg106><seg022><seg077><seg054><seg104><seg022><seg062><seg052><seg104><seg015><seg028><seg019><seg036>." |
| }, |
| { |
| "ep": 691, |
| "frame_abs": 233525, |
| "t_rel": 75, |
| "emitted": true, |
| "iou": 0.0, |
| "cdist_px": 19.496504561401373, |
| "box": [ |
| 0.5796676441837733, |
| 0.6226783968719453, |
| 0.5992179863147605, |
| 0.635386119257087 |
| ], |
| "gt_box": [ |
| 0.5347018572825024, |
| 0.6060606060606061, |
| 0.552297165200391, |
| 0.6197458455522972 |
| ], |
| "gen_text": "Open the gripper fully to release the green snack bag onto the box surface, then retract the hand upward and away. @grip <loc0593><loc0637><loc0613><loc0650><seg068><seg041><seg009><seg059><seg022><seg052><seg106><seg022><seg022><seg029><seg091><seg022><seg065><seg011><seg060><seg063> <loc0551><loc0642><loc0569><loc0655><seg052><seg041><seg009><seg071><seg022><seg092><seg106><seg022><seg022><seg062><seg091><seg022><seg015><seg011><seg019><seg093>" |
| } |
| ] |
| }, |
| "episode_meta": { |
| "48": { |
| "prompt": "wire harness", |
| "plan_text": "Plan:1. Move the open gripper down toward the white cord lying on the table. 2. Close the gripper firmly around the white cord to secure a grip on it. 3. Lift the white cord upward off the table. 4. Transport the white cord horizontally toward the wooden mallet pen. 5. Descend and insert the gripper into the wooden mallet pen. 6. Open the gripper to release the white cord onto the mallet pen. 7. Retract the gripper upward and away from the spatula holder.", |
| "lo": 10623, |
| "hi": 10861, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 86, |
| 126, |
| 166 |
| ] |
| }, |
| "50": { |
| "prompt": "wire harness", |
| "plan_text": "Plan:1. Move the open gripper down toward the green cable loop on the table. 2. Close the gripper firmly around the green loop to secure the grasp. 3. Lift the green loop upward off the table. 4. Transport the green loop over the clear plastic bag. 5. Lower the green loop into the clear plastic bag and open the gripper to release it. 6. Retract the gripper upward and away from the clear plastic bag.", |
| "lo": 11063, |
| "hi": 11392, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 85, |
| 125, |
| 165 |
| ] |
| }, |
| "52": { |
| "prompt": "wire harness", |
| "plan_text": "Plan:1. Move the open gripper down toward the target stuffed animal on the tabletop. 2. Descend and close the gripper firmly around the target stuffed animal. 3. Lift the stuffed animal upward off the tabletop. 4. Transport the stuffed animal horizontally to the right across the table. 5. Descend and align the gripper over the target stuffed animal. 6. Open the fingers to release the stuffed animal onto the table surface. 7. Retract the open gripper upward and away from the placed stuffed animal.", |
| "lo": 11645, |
| "hi": 11802, |
| "kfs": [ |
| 0, |
| 40, |
| 69, |
| 109, |
| 143, |
| 157 |
| ] |
| }, |
| "320": { |
| "prompt": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", |
| "plan_text": "Plan:1. Move the open gripper down toward the small teal cube on the table. 2. Descend the gripper onto the teal cube and close the fingers to grasp it. 3. Lift the teal cube clear of the table. 4. Transport the teal cube laterally to the target placement location near the white tray. 5. Descend onto the white tray and open the fingers to release it. 6. Retract the gripper upward and away from the tray.", |
| "lo": 112457, |
| "hi": 112572, |
| "kfs": [ |
| 0, |
| 40, |
| 75, |
| 107, |
| 115 |
| ] |
| }, |
| "401": { |
| "prompt": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", |
| "plan_text": "Plan:1. Move the open gripper down toward the white paper towel roll on the counter. 2. Align the fingers around the roll's sides. 3. Close the gripper firmly around the roll's roll to grasp it. 4. Lift the roll of paper towel upward off the counter. 5. Transport the roll of paper towel across the counter toward the target placement location. 6. Descend the roll of paper towel onto the counter surface beside the white bowl. 7. Open the gripper to release the roll of paper towel into the counter. 8. Retract the gripper upward and away from the roll of paper towel.", |
| "lo": 137967, |
| "hi": 138374, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 89, |
| 120, |
| 142 |
| ] |
| }, |
| "551": { |
| "prompt": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", |
| "plan_text": "Plan:1. Move the open gripper down toward the cardboard box near the center of the table. 2. Align the finger pads over the box's sides and close the fingers to grasp them. 3. Lift the cardboard box off the table. 4. Transport the cardboard box over the white table surface beside the mug. 5. Descend the open gripper over the white table surface beside the mug. 6. Open the fingers to release the cardboard box and retract the gripper clear of the box.", |
| "lo": 196830, |
| "hi": 197045, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 118, |
| 158, |
| 184 |
| ] |
| }, |
| "553": { |
| "prompt": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", |
| "plan_text": "Plan:1", |
| "lo": 197381, |
| "hi": 197656, |
| "kfs": [ |
| 0, |
| 40, |
| 80, |
| 120, |
| 130, |
| 170 |
| ] |
| }, |
| "691": { |
| "prompt": "Move object to a new position and orientation (ex: grasping, relocating, flipping)", |
| "plan_text": "Plan:1. Move the open gripper down toward the green snack bag on the shelf and align finger pads around its body. 2. Close the gripper firmly around the green snack bag to complete the grasp. 3. Lift the green snack bag clear of the shelf surface. 4. Transport the green snack bag laterally over the open cardboard box. 5. Descend and lower the green snack bag onto the bottom of the cardboard box. 6. Open the gripper to release the green snack bag into the cardboard box. 7. Retract the gripper upward and away from the cardboard box.", |
| "lo": 233450, |
| "hi": 233544, |
| "kfs": [ |
| 0, |
| 40, |
| 48, |
| 75, |
| 94 |
| ] |
| } |
| } |
| } |
| } |
