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WatchAct / meta_data /Fine-Grained_Action.json
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{
 "examples": [
 {
 "id": "recognizing_actions_0",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are shaken vigorously into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "butter_2",
 "orange_juice_1",
 "orange_juice_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_front_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_right_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_back_center_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_front_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_right_region"
 ],
 [
 "In",
 "orange_juice_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_back_right_region"
 ]
 ],
 "interest_objects": [
 "orange_juice_1"
 ],
 "oracle_plan": [
 "PICK(orange_juice_1, main_back_center_region)",
 "PLACE(orange_juice_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(orange_juice_1, main_front_center_region)",
 "PLACE(orange_juice_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "orange_juice_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_0.bddl",
 "video": {
 "front": "front/GX010085.MP4",
 "side": "side/GX010068.MP4",
 "oblique": "oblique/GX010094.MP4"
 }
 },
 {
 "id": "recognizing_actions_1",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are touched with both hands into the wooden tray, and place the objects that are touched with only one hand into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "butter_1",
 "orange_juice_1",
 "orange_juice_2",
 "orange_juice_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_front_right_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_back_right_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "orange_juice_3",
 "main_front_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_front_right_region"
 ],
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "orange_juice_3",
 "basket_1_contain_region"
 ]
 ],
 "interest_objects": [
 "orange_juice_1",
 "orange_juice_2",
 "orange_juice_3"
 ],
 "oracle_plan": [
 "PICK(orange_juice_1, main_back_right_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(orange_juice_2, main_middle_right_region)",
 "PLACE(orange_juice_2, basket_1_contain_region)",
 "PICK(orange_juice_3, main_front_left_region)",
 "PLACE(orange_juice_3, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(orange_juice_1, main_front_left_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(orange_juice_2, main_middle_left_region)",
 "PLACE(orange_juice_2, basket_1_contain_region)",
 "PICK(orange_juice_3, main_back_right_region)",
 "PLACE(orange_juice_3, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "orange_juice_3",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_1.bddl",
 "video": {
 "front": "front/GX010086.MP4",
 "side": "side/GX010069.MP4",
 "oblique": "oblique/GX010095.MP4"
 }
 },
 {
 "id": "recognizing_actions_2",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are shaken vigorously into the wooden tray, and place the objects that are not shaken vigorously into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "butter_1",
 "orange_juice_1",
 "orange_juice_2",
 "orange_juice_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_front_right_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "orange_juice_3",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_front_right_region"
 ],
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_3",
 "basket_1_contain_region"
 ]
 ],
 "interest_objects": [
 "orange_juice_1",
 "orange_juice_2",
 "orange_juice_3"
 ],
 "oracle_plan": [
 "PICK(orange_juice_1, main_middle_left_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(orange_juice_2, main_middle_right_region)",
 "PLACE(orange_juice_2, wooden_tray_1_contain_region)",
 "PICK(orange_juice_3, main_back_right_region)",
 "PLACE(orange_juice_3, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(orange_juice_1, main_middle_right_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(orange_juice_2, main_middle_left_region)",
 "PLACE(orange_juice_2, wooden_tray_1_contain_region)",
 "PICK(orange_juice_3, main_front_left_region)",
 "PLACE(orange_juice_3, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "orange_juice_3",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_2.bddl",
 "video": {
 "front": "front/GX010087.MP4",
 "side": "side/GX010070.MP4",
 "oblique": "oblique/GX010096.MP4"
 }
 },
 {
 "id": "recognizing_actions_3",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are shaken vigorously into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "tomato_sauce_1",
 "orange_juice_1",
 "orange_juice_2",
 "orange_juice_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "tomato_sauce_1",
 "main_back_center_region"
 ],
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_middle_left_region"
 ],
 [
 "On",
 "orange_juice_3",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "tomato_sauce_1",
 "main_back_center_region"
 ],
 [
 "In",
 "orange_juice_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "basket_1_contain_region"
 ],
 [
 "On",
 "orange_juice_3",
 "main_back_right_region"
 ]
 ],
 "interest_objects": [
 "orange_juice_1",
 "orange_juice_2"
 ],
 "oracle_plan": [
 "PICK(orange_juice_1, wooden_tray_1_contain_region)",
 "PLACE(orange_juice_1, basket_1_contain_region)",
 "PICK(orange_juice_2, main_middle_left_region)",
 "PLACE(orange_juice_2, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(orange_juice_1, wooden_tray_1_contain_region)",
 "PLACE(orange_juice_1, basket_1_contain_region)",
 "PICK(orange_juice_2, main_middle_right_region)",
 "PLACE(orange_juice_2, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "orange_juice_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "orange_juice_2",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_3.bddl",
 "video": {
 "front": "front/GX010088.MP4",
 "side": "side/GX010071.MP4",
 "oblique": "oblique/GX010097.MP4"
 }
 },
 {
 "id": "recognizing_actions_4",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are turned using both hands into the wooden tray that is closer to the person.",
 "objects": [
 "wooden_tray_1",
 "wooden_tray_2",
 "orange_juice_1",
 "orange_juice_2",
 "milk_1",
 "milk_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_center_region"
 ],
 [
 "On",
 "milk_2",
 "main_middle_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "orange_juice_2",
 "main_middle_right_region"
 ],
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "milk_2",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "milk_1",
 "milk_2"
 ],
 "oracle_plan": [
 "PICK(milk_1, main_back_center_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(milk_2, main_middle_left_region)",
 "PLACE(milk_2, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(milk_1, main_front_center_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(milk_2, main_middle_right_region)",
 "PLACE(milk_2, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "milk_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_4.bddl",
 "video": {
 "front": "front/GX010089.MP4",
 "side": "side/GX010072.MP4",
 "oblique": "oblique/GX010098.MP4"
 }
 },
 {
 "id": "recognizing_actions_6",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that were not touched into the wooden tray closer to the person, and place the objects that were touched into the wooden tray farther from the person.",
 "objects": [
 "wooden_tray_1",
 "wooden_tray_2",
 "cream_cheese_1",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_2_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_2_contain_region)",
 "PICK(butter_1, main_middle_right_region)",
 "PLACE(butter_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_front_right_region)",
 "PLACE(butter_2, wooden_tray_2_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_2_contain_region)",
 "PICK(butter_1, main_middle_left_region)",
 "PLACE(butter_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_back_left_region)",
 "PLACE(butter_2, wooden_tray_2_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_2_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_6.bddl",
 "video": {
 "front": "front/GX010091.MP4",
 "side": "side/GX010074.MP4",
 "oblique": "oblique/GX010100.MP4"
 }
 },
 {
 "id": "recognizing_actions_8",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are untouched into the wooden tray closer to the person, and place the objects that are touched into the wooden tray farther away.",
 "objects": [
 "wooden_tray_1",
 "wooden_tray_2",
 "cream_cheese_1",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "wooden_tray_2",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_2_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_2_contain_region)",
 "PICK(butter_1, main_back_right_region)",
 "PLACE(butter_1, wooden_tray_2_contain_region)",
 "PICK(butter_2, main_middle_left_region)",
 "PLACE(butter_2, wooden_tray_2_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_2_contain_region)",
 "PICK(butter_1, main_front_left_region)",
 "PLACE(butter_1, wooden_tray_2_contain_region)",
 "PICK(butter_2, main_middle_right_region)",
 "PLACE(butter_2, wooden_tray_2_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_2_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_2_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_8.bddl",
 "video": {
 "front": "front/GX010093.MP4",
 "side": "side/GX010076.MP4",
 "oblique": "oblique/GX010102.MP4"
 }
 },
 {
 "id": "recognizing_actions_9",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ]
 ],
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_9.bddl",
 "video": {
 "front": "front/GX010094.MP4",
 "side": "side/GX010077.MP4",
 "oblique": "oblique/GX010104.MP4"
 }
 },
 {
 "id": "recognizing_actions_10",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_center_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ]
 ],
 "interest_objects": [
 "butter_1"
 ],
 "oracle_plan": [
 "PICK(butter_1, main_back_right_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(butter_1, main_front_left_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_10.bddl",
 "video": {
 "front": "front/GX010095.MP4",
 "side": "side/GX010078.MP4",
 "oblique": "oblique/GX010105.MP4"
 }
 },
 {
 "id": "recognizing_actions_11",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_front_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_left_region"
 ]
 ],
 "interest_objects": [
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_2, main_front_right_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_2, main_back_left_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_11.bddl",
 "video": {
 "front": "front/GX010096.MP4",
 "side": "side/GX010079.MP4",
 "oblique": "oblique/GX010106.MP4"
 }
 },
 {
 "id": "recognizing_actions_12",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ]
 ],
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_12.bddl",
 "video": {
 "front": "front/GX010097.MP4",
 "side": "side/GX010080.MP4",
 "oblique": "oblique/GX010107.MP4"
 }
 },
 {
 "id": "recognizing_actions_13",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ]
 ],
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_13.bddl",
 "video": {
 "front": "front/GX010098.MP4",
 "side": "side/GX010081.MP4",
 "oblique": "oblique/GX010108.MP4"
 }
 },
 {
 "id": "recognizing_actions_14",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_front_right_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_center_region"
 ]
 ],
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_front_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_back_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_14.bddl",
 "video": {
 "front": "front/GX010099.MP4",
 "side": "side/GX010082.MP4",
 "oblique": "oblique/GX010109.MP4"
 }
 },
 {
 "id": "recognizing_actions_16",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the object that is held for the longest time into the basket.",
 "objects": [
 "basket_1",
 "milk_1",
 "milk_2",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "milk_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "milk_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "milk_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ]
 ],
 "interest_objects": [
 "milk_1"
 ],
 "oracle_plan": [
 "PICK(milk_1, main_middle_center_region)",
 "PLACE(milk_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(milk_1, main_middle_center_region)",
 "PLACE(milk_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "milk_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_16.bddl",
 "video": {
 "front": "front/GX010101.MP4",
 "side": "side/GX010084.MP4",
 "oblique": "oblique/GX010111.MP4"
 }
 },
 {
 "id": "recognizing_actions_17",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the untouched objects into the wooden tray.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "milk_1",
 "milk_2",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "milk_2",
 "main_front_left_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "milk_2",
 "main_front_left_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_left_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_3",
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_2, main_back_right_region)",
 "PLACE(cream_cheese_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_front_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_2, main_front_left_region)",
 "PLACE(cream_cheese_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_back_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_17.bddl",
 "video": {
 "front": "front/GX010102.MP4",
 "side": "side/GX010085.MP4",
 "oblique": "oblique/GX010112.MP4"
 }
 },
 {
 "id": "recognizing_actions_18",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the untouched objects into the wooden tray.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_2",
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_2, main_middle_center_region)",
 "PLACE(cream_cheese_2, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_front_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_2, main_middle_center_region)",
 "PLACE(cream_cheese_2, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_back_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_18.bddl",
 "video": {
 "front": "front/GX010103.MP4",
 "side": "side/GX010086.MP4",
 "oblique": "oblique/GX010113.MP4"
 }
 },
 {
 "id": "recognizing_actions_19",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are left untouched into the wooden tray.",
 "objects": [
 "wooden_tray_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_3",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_front_right_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_back_left_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_19.bddl",
 "video": {
 "front": "front/GX010104.MP4",
 "side": "side/GX010087.MP4",
 "oblique": "oblique/GX010114.MP4"
 }
 },
 {
 "id": "recognizing_actions_20",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are moved to the person's right into the wooden tray, and place the objects that are moved to the person's left into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "milk_1",
 "cream_cheese_1",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_left_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_right_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "butter_3",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(butter_1, main_back_right_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_front_left_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_front_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(butter_1, main_front_left_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_back_right_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_back_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_20.bddl",
 "video": {
 "front": "front/GX010105.MP4",
 "side": "side/GX010088.MP4",
 "oblique": "oblique/GX010115.MP4"
 }
 },
 {
 "id": "recognizing_actions_21",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are moved to the person's right into the wooden tray, and place the objects that are moved to the person's left into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "milk_1",
 "milk_2",
 "cream_cheese_1",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_left_region"
 ],
 [
 "On",
 "milk_2",
 "main_back_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "milk_2",
 "main_back_center_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "basket_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "butter_3",
 "cream_cheese_1",
 "milk_1"
 ],
 "oracle_plan": [
 "PICK(milk_1, main_back_left_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_right_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_front_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_front_right_region)",
 "PLACE(butter_3, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(milk_1, main_front_right_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_left_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_back_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_back_left_region)",
 "PLACE(butter_3, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_21.bddl",
 "video": {
 "front": "front/GX010106.MP4",
 "side": "side/GX010089.MP4",
 "oblique": "oblique/GX010116.MP4"
 }
 },
 {
 "id": "recognizing_actions_22",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are moved to the person’s right into the wooden tray, and place the objects that are moved to the left into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "milk_1",
 "milk_2",
 "cream_cheese_1",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_left_region"
 ],
 [
 "On",
 "milk_2",
 "main_back_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_left_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "milk_2",
 "basket_1_contain_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "butter_3",
 "milk_1",
 "milk_2"
 ],
 "oracle_plan": [
 "PICK(milk_1, main_back_left_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(milk_2, main_back_right_region)",
 "PLACE(milk_2, basket_1_contain_region)",
 "PICK(butter_1, main_middle_left_region)",
 "PLACE(butter_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_front_left_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_front_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(milk_1, main_front_right_region)",
 "PLACE(milk_1, wooden_tray_1_contain_region)",
 "PICK(milk_2, main_front_left_region)",
 "PLACE(milk_2, basket_1_contain_region)",
 "PICK(butter_1, main_middle_right_region)",
 "PLACE(butter_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_back_right_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_3, main_back_center_region)",
 "PLACE(butter_3, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "milk_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "milk_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_22.bddl",
 "video": {
 "front": "front/GX010107.MP4",
 "side": "side/GX010090.MP4",
 "oblique": "oblique/GX010117.MP4"
 }
 },
 {
 "id": "recognizing_actions_23",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are moved to the person’s right into the wooden tray, and place the objects that are moved to the left into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "milk_1",
 "milk_2",
 "cream_cheese_1",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_left_region"
 ],
 [
 "On",
 "milk_2",
 "main_back_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_left_region"
 ],
 [
 "On",
 "milk_2",
 "main_back_right_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_center_region"
 ],
 [
 "In",
 "butter_3",
 "basket_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_3",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_3, main_front_right_region)",
 "PLACE(butter_3, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_3, main_back_left_region)",
 "PLACE(butter_3, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_3",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_23.bddl",
 "video": {
 "front": "front/GX010108.MP4",
 "side": "side/GX010091.MP4",
 "oblique": "oblique/GX010118.MP4"
 }
 },
 {
 "id": "recognizing_actions_24",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that were moved to the person's right into the wooden tray, and place the objects that were moved to the person's left into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "orange_juice_1",
 "ketchup_1",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_back_left_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "butter_2",
 "main_front_left_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_back_right_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_center_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "orange_juice_1"
 ],
 "oracle_plan": [
 "PICK(orange_juice_1, main_back_left_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_front_left_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_1, main_middle_right_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(orange_juice_1, main_front_right_region)",
 "PLACE(orange_juice_1, wooden_tray_1_contain_region)",
 "PICK(butter_2, main_back_right_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)",
 "PICK(butter_1, main_middle_left_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "orange_juice_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_24.bddl",
 "video": {
 "front": "front/GX010109.MP4",
 "side": "side/GX010092.MP4",
 "oblique": "oblique/GX010119.MP4"
 }
 },
 {
 "id": "recognizing_actions_26",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are picked up quickly into the wooden tray, and place the objects that are picked up slowly into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_left_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_left_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_back_right_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_back_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_right_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_front_left_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_front_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_26.bddl",
 "video": {
 "front": "front/GX010111.MP4",
 "side": "side/GX010094.MP4",
 "oblique": "oblique/GX010121.MP4"
 }
 },
 {
 "id": "recognizing_actions_27",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are picked up quickly into the wooden tray, and place the objects that are picked up slowly into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2",
 "butter_3"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ],
 [
 "On",
 "butter_3",
 "main_front_left_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_left_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_back_right_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_back_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_right_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_front_left_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_front_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_27.bddl",
 "video": {
 "front": "front/GX010112.MP4",
 "side": "side/GX010095.MP4",
 "oblique": "oblique/GX010122.MP4"
 }
 },
 {
 "id": "recognizing_actions_30",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Place the objects that are picked up quickly into the wooden tray, and place the objects that are picked up slowly into the basket.",
 "objects": [
 "wooden_tray_1",
 "basket_1",
 "cream_cheese_1",
 "cream_cheese_2",
 "butter_1",
 "butter_2"
 ],
 "initial_states": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_back_right_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "wooden_tray_1",
 "fixture_front_region"
 ],
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ],
 "interest_objects": [
 "butter_1",
 "butter_2",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_back_right_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_middle_left_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
 "PICK(cream_cheese_2, main_front_left_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)",
 "PICK(butter_1, main_middle_right_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(butter_2, main_middle_center_region)",
 "PLACE(butter_2, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "wooden_tray_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_2",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_30.bddl",
 "video": {
 "front": "front/GX010116.MP4",
 "side": "side/GX010099.MP4",
 "oblique": "oblique/GX010126.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_31",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the violently shaken object in the video into the basket closer to the human in the video.",
 "objects": [
 "basket_1",
 "basket_2",
 "cream_cheese_1",
 "butter_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_31.bddl",
 "video": {
 "front": "front/GX010409.MP4",
 "side": "side/GX010419.MP4",
 "oblique": "oblique/GX010420.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_32",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the violently shaken object in the video into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_32.bddl",
 "video": {
 "front": "front/GX010410.MP4",
 "side": "side/GX010420.MP4",
 "oblique": "oblique/GX010421.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_33",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Please put the object that someone flips over in the video into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_back_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_33.bddl",
 "video": {
 "front": "front/GX010411.MP4",
 "side": "side/GX010421.MP4",
 "oblique": "oblique/GX010422.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_34",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that someone taps with their finger into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_34.bddl",
 "video": {
 "front": "front/GX010412.MP4",
 "side": "side/GX010422.MP4",
 "oblique": "oblique/GX010423.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_35",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that someone taps with their finger into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_center_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_35.bddl",
 "video": {
 "front": "front/GX010413.MP4",
 "side": "side/GX010423.MP4",
 "oblique": "oblique/GX010424.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_36",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the violently shaken object in the video into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_middle_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_36.bddl",
 "video": {
 "front": "front/GX010414.MP4",
 "side": "side/GX010424.MP4",
 "oblique": "oblique/GX010425.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_37",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the violently shaken object in the video into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_37.bddl",
 "video": {
 "front": "front/GX010415.MP4",
 "side": "side/GX010425.MP4",
 "oblique": "oblique/GX010426.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_38",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_38.bddl",
 "video": {
 "front": "front/GX010416.MP4",
 "side": "side/GX010426.MP4",
 "oblique": "oblique/GX010427.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_39",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "bbq_sauce_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "bbq_sauce_1",
 "main_front_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_39.bddl",
 "video": {
 "front": "front/GX010417.MP4",
 "side": "side/GX010427.MP4",
 "oblique": "oblique/GX010428.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_40",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that were picked up into the basket.",
 "objects": [
 "basket_1",
 "cream_cheese_1",
 "butter_1",
 "orange_juice_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "orange_juice_1",
 "main_back_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "butter_1",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_left_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_right_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)",
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_40.bddl",
 "video": {
 "front": "front/GX010418.MP4",
 "side": "side/GX010428.MP4",
 "oblique": "oblique/GX010429.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_41",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that were picked up into the basket.",
 "objects": [
 "basket_1",
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "alphabet_soup_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "alphabet_soup_1"
 ],
 "oracle_plan": [
 "PICK(alphabet_soup_1, main_middle_left_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(alphabet_soup_1, main_middle_right_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_41.bddl",
 "video": {
 "front": "front/GX010419.MP4",
 "side": "side/GX010429.MP4",
 "oblique": "oblique/GX010430.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_42",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that were picked up into the basket.",
 "objects": [
 "basket_1",
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "alphabet_soup_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "ketchup_1",
 "basket_1_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "oracle_plan": [
 "PICK(alphabet_soup_1, main_middle_left_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)",
 "PICK(ketchup_1, main_middle_center_region)",
 "PLACE(ketchup_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(alphabet_soup_1, main_middle_right_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)",
 "PICK(ketchup_1, main_middle_center_region)",
 "PLACE(ketchup_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "ketchup_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_42.bddl",
 "video": {
 "front": "front/GX010420.MP4",
 "side": "side/GX010430.MP4",
 "oblique": "oblique/GX010431.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_43",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket, and put the objects that were not picked up on the wooden tray.",
 "objects": [
 "basket_1",
 "wooden_tray_1",
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "On",
 "alphabet_soup_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "wooden_tray_1",
 "fixture_back_region"
 ],
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "ketchup_1",
 "wooden_tray_1_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "oracle_plan": [
 "PICK(alphabet_soup_1, main_middle_left_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)",
 "PICK(ketchup_1, main_middle_center_region)",
 "PLACE(ketchup_1, wooden_tray_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(alphabet_soup_1, main_middle_right_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)",
 "PICK(ketchup_1, main_middle_center_region)",
 "PLACE(ketchup_1, wooden_tray_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "ketchup_1",
 "wooden_tray_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_43.bddl",
 "video": {
 "front": "front/GX010421.MP4",
 "side": "side/GX010431.MP4",
 "oblique": "oblique/GX010432.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_44",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket near to the person.",
 "objects": [
 "basket_1",
 "basket_2",
 "alphabet_soup_1",
 "ketchup_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "alphabet_soup_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "ketchup_1",
 "main_middle_center_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "alphabet_soup_1"
 ],
 "oracle_plan": [
 "PICK(alphabet_soup_1, main_middle_left_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(alphabet_soup_1, main_middle_right_region)",
 "PLACE(alphabet_soup_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "alphabet_soup_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_44.bddl",
 "video": {
 "front": "front/GX010422.MP4",
 "side": "side/GX010432.MP4",
 "oblique": "oblique/GX010433.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_45",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket farther from the person.",
 "objects": [
 "basket_1",
 "basket_2",
 "butter_1",
 "butter_2",
 "cream_cheese_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_middle_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_back_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_right_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_middle_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_45.bddl",
 "video": {
 "front": "front/GX010423.MP4",
 "side": "side/GX010433.MP4",
 "oblique": "oblique/GX010434.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_46",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket farther from the person.",
 "objects": [
 "basket_1",
 "basket_2",
 "butter_1",
 "butter_2",
 "cream_cheese_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "butter_2",
 "main_middle_center_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_46.bddl",
 "video": {
 "front": "front/GX010424.MP4",
 "side": "side/GX010434.MP4",
 "oblique": "oblique/GX010435.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_47",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that were picked up into the basket farther from the person.",
 "objects": [
 "basket_1",
 "basket_2",
 "butter_1",
 "milk_1",
 "cream_cheese_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_right_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_back_region"
 ],
 [
 "On",
 "basket_2",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_left_region"
 ],
 [
 "On",
 "milk_1",
 "main_middle_right_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_2_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_2_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_47.bddl",
 "video": {
 "front": "front/GX010425.MP4",
 "side": "side/GX010435.MP4",
 "oblique": "oblique/GX010436.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_48",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that was picked up into the basket.",
 "objects": [
 "basket_1",
 "butter_1",
 "cream_cheese_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_48.bddl",
 "video": {
 "front": "front/GX010426.MP4",
 "side": "side/GX010436.MP4",
 "oblique": "oblique/GX010437.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_49",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that were picked up into the basket.",
 "objects": [
 "basket_1",
 "butter_1",
 "cream_cheese_1",
 "milk_1"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_right_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ],
 [
 "On",
 "milk_1",
 "main_back_right_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "butter_1",
 "cream_cheese_1"
 ],
 "oracle_plan": [
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(cream_cheese_1, main_back_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(butter_1, main_middle_center_region)",
 "PLACE(butter_1, basket_1_contain_region)",
 "PICK(cream_cheese_1, main_front_center_region)",
 "PLACE(cream_cheese_1, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "butter_1",
 "basket_1_contain_region"
 ],
 [
 "In",
 "cream_cheese_1",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_49.bddl",
 "video": {
 "front": "front/GX010427.MP4",
 "side": "side/GX010437.MP4",
 "oblique": "oblique/GX010438.MP4"
 }
 },
 {
 "id": "recognizing_actions_example_50",
 "simulation_task": {
 "language_instruction": "Start executing the instruction from the final scene of the video: Put the violently shaken object in the video into the basket.",
 "objects": [
 "basket_1",
 "butter_1",
 "cream_cheese_1",
 "cream_cheese_2"
 ],
 "initial_states": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "On",
 "cream_cheese_2",
 "main_middle_left_region"
 ]
 ],
 "final_goal": [
 [
 "On",
 "basket_1",
 "fixture_front_region"
 ],
 [
 "On",
 "butter_1",
 "main_middle_center_region"
 ],
 [
 "On",
 "cream_cheese_1",
 "main_back_center_region"
 ],
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ]
 ],
 "primitive_action_sequence": null,
 "sub_goals": null,
 "interest_objects": [
 "cream_cheese_2"
 ],
 "oracle_plan": [
 "PICK(cream_cheese_2, main_middle_left_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)"
 ],
 "oracle_plan_human": [
 "PICK(cream_cheese_2, main_middle_right_region)",
 "PLACE(cream_cheese_2, basket_1_contain_region)"
 ],
 "interest_objects_final_states": [
 [
 "In",
 "cream_cheese_2",
 "basket_1_contain_region"
 ]
 ]
 },
 "bddl_file": "Fine-Grained_Action/KITCHEN_EASY_1_RECOGNIZING_ACTIONS_RECOGNIZING_ACTIONS_EXAMPLE_50.bddl",
 "video": {
 "front": "front/GX010428.MP4",
 "side": "side/GX010438.MP4",
 "oblique": "oblique/GX010439.MP4"
 }
 }
 ]
}