diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..020a64a1cee4175b8c2d093acbf23d1c023612ab --- /dev/null +++ b/.gitattributes @@ -0,0 +1,94 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text +roboatom_data/by_dataset/AgiBot_World_Beta.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/by_dataset/Galaxea_Open-World.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/by_dataset/RH20T.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/by_dataset/RoboCasa.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/by_dataset/RoboTwin_2.0.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/AgiBot_World_Beta.media_paths.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/AgiBot_World_Beta.public_locations.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/Galaxea_Open-World.media_paths.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/Galaxea_Open-World.public_locations.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RH20T.media_paths.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RH20T.public_locations.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RoboCasa.media_paths.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RoboCasa.public_locations.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RoboTwin_2.0.media_paths.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/metadata/RoboTwin_2.0.public_locations.jsonl filter=lfs diff=lfs merge=lfs -text +roboatom_data/roboatom_data.jsonl filter=lfs diff=lfs merge=lfs -text +project_media/figures/benchmark-overview.pdf filter=lfs diff=lfs merge=lfs -text +project_media/figures/construction-pipeline.pdf filter=lfs diff=lfs merge=lfs -text +project_media/figures/dual-system.pdf filter=lfs diff=lfs merge=lfs -text +project_media/figures/overview-panels.pdf filter=lfs diff=lfs merge=lfs -text +project_media/figures/roboatom-overview.pdf filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/AgiBot_World_Beta.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/Galaxea_Open-World.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/RH20T.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/RoboCasa.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/RoboTwin_2.0.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/roboatom_data.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/AgiBot_World_2026.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/EBench.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/InternData-A1.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/LIBERO.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/Private.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/RoboCerebra.jsonl filter=lfs diff=lfs merge=lfs -text +RoboAtom-Data/by_dataset/RoboDojo.jsonl filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..8cf63a832d1e9b4d5acfce6b61bc681764a44130 --- /dev/null +++ b/README.md @@ -0,0 +1,160 @@ +--- +license: mit +pretty_name: RoboAtom +language: + - en +task_categories: + - robotics +size_categories: + - 100K + + RoboAtom overview + +

+ +

+ Project page + GitHub + Paper + Dataset + Models +

+ +## RoboAtom-Data + +Time-aligned atomic-action annotations: each segment has a skill label, an action description, and frame boundaries. Each dataset has one JSONL file; `roboatom_data.jsonl` is their concatenation. + +| Dataset | Annotation file | +| --- | --- | +| Private | [Private.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Private.jsonl) | +| EBench | [EBench.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/EBench.jsonl) | +| Galaxea Open-World | [Galaxea_Open-World.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Galaxea_Open-World.jsonl) | +| InternData-A1 | [InternData-A1.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/InternData-A1.jsonl) | +| LIBERO | [LIBERO.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/LIBERO.jsonl) | +| RoboCasa | [RoboCasa.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCasa.jsonl) | +| RoboCerebra | [RoboCerebra.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCerebra.jsonl) | +| RoboDojo | [RoboDojo.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboDojo.jsonl) | +| RoboTwin 2.0 | [RoboTwin_2.0.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboTwin_2.0.jsonl) | +| RH20T | [RH20T.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RH20T.jsonl) | +| AgiBot World Beta | [AgiBot_World_Beta.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_Beta.jsonl) | +| AgiBot World 2026 | [AgiBot_World_2026.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_2026.jsonl) | +| **All datasets** | [roboatom_data.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/roboatom_data.jsonl) | + +```bash +hf download InternRobotics/RoboAtom --repo-type dataset \ + --include 'RoboAtom-Data/roboatom_data.jsonl' --local-dir ./data +``` + +```python +from datasets import load_dataset + +annotations = load_dataset( + "InternRobotics/RoboAtom", "RoboAtom-Data", split="train", streaming=True +) +``` + +| Fields | Meaning | +| --- | --- | +| `id`, `dataset`, `task_id`, `episode_index` | Trajectory and task identities | +| `task`, `task_flags` | Task text and task-text flags | +| `num_frames`, `fps`, `views`, `domain` | Frame count, FPS (InternData-A1: 30 mapped to 15), camera names, real/sim | +| `segments` | Ordered `{start_frame, end_frame, skill, action_text}` | +| `is_human_annotated` | Human-QC status: `true`, `false`, or `null` | +| `public_source_url`, `public_location` | Source repository and source-relative path, or `null` | + +Frame indices are zero-based and both endpoints are included. The files contain annotations only; get videos and sensor data from the source datasets. + +Skills: `Pick`, `Place`, `Handover`, `Move`, `Open`, `Close`, `Push`, `Pull`, `Press`, `Rotate`, `Screw`, `Plug`, `Pour`, `Fill`, `Scoop`, `Stir`, `Dip`, `Shake`, `Fold`, `Tie`, `Wipe`, `Sweep`, `Wash`, `Brush`, `Cut`, `Peel`, `Strike`, `Scan`, `Throw`. An empty `skill` marks an unlabeled span. + +## RoboAtom-Bench + +A model predicts ordered skill labels, action descriptions, and temporal boundaries for complete robot trajectories. + +| Subset | Trajectories | GT segments | Videos | +| --- | ---: | ---: | ---: | +| Short (1–4 segments) | 200 | 411 | 200 | +| Medium (5–8) | 100 | 634 | 100 | +| Long (9–62) | 100 | 2,302 | 100 | +| Multiview | 100 | 671 | 321 | +| **Total** | **500** | **4,018** | **721** | + +```bash +hf download InternRobotics/RoboAtom --repo-type dataset \ + --include 'RoboAtom-Bench/**' --local-dir ./data +``` + +`benchmark.jsonl` holds model inputs and relative video paths; `gt.jsonl` holds `action_config` segments with the same `benchmark_id`. An input record: + +```json +{ + "benchmark_id": "benchmark:004957f135e186fb5052", + "category": "short", + "dataset": "RoboMIND 2.0", + "task": "Transfers the tape from the board to the tray using both arms.", + "fps": 30.0, + "length": 242, + "frame_interval": "closed_inclusive", + "benchmark_view_mode": "singleview", + "evaluation_views": ["front"], + "model_view_key": "front", + "views": {"front": "videos/004957f135e186fb5052/00_front.mp4"} +} +``` + +Validate, run inference, and score with the [RoboAtom code](https://github.com/InternRobotics/RoboAtom#quick-start-benchmark): + +```bash +roboatom evaluate \ + --gt ./data/RoboAtom-Bench/gt.jsonl \ + --benchmark-input ./data/RoboAtom-Bench/benchmark.jsonl \ + --prediction outputs/roboatom_predictions.jsonl \ + --protocol configs/roboatom_bench.yaml \ + --output-dir outputs/roboatom_evaluation +``` + +Metrics: Micro F1 at 0.3/0.5/0.7, Skill F1@0.7, mIoU, and Edit. + +## License and citation + +Annotations, benchmark labels, and project media are released under the MIT license. Source videos and datasets keep their own terms. Citation: [CITATION.cff](https://github.com/InternRobotics/RoboAtom/blob/main/CITATION.cff). + +If you use RoboAtom in your research, please cite: + +```bibtex +@misc{wei2026roboatomlargescaleatomicactionsupervision, + title={RoboAtom: Large-scale Atomic-Action Supervision for Robot Learning}, + author={Xueyuan Wei and Xuanxu Wang and Xudong Li and Yuping He and Wanshui Gan and Jiaqi Peng and Wenqi Guo and Jianjun Zhou and Junting Dong and Chunhua Shen and Haoyu Guo and Mulin Yu and Tao Lu}, + year={2026}, + eprint={2610.40207}, + archivePrefix={arXiv}, + primaryClass={cs.RO}, + url={https://arxiv.org/abs/2610.40207}, +} +``` + +## To-do + +- [ ] ABC-130k +- [ ] RoboCOIN +- [ ] RoboMIND +- [ ] RoboMIND 2.0 diff --git a/RoboAtom-Bench/benchmark.jsonl b/RoboAtom-Bench/benchmark.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6900730d70f553c7cc97688a6804f9e8c0b0b1a --- /dev/null +++ b/RoboAtom-Bench/benchmark.jsonl @@ -0,0 +1,500 @@ +{"benchmark_id": "benchmark:004957f135e186fb5052", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND 2.0", "evaluation_views": ["front"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 242, "model_view_key": "front", "task": "Transfers the tape from the board to the tray using both arms.", "views": {"front": "videos/004957f135e186fb5052/00_front.mp4"}} +{"benchmark_id": "benchmark:04d3845c6c50b42e7bb5", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["right"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 178, "model_view_key": "right", "task": "Side pull drawer.", "views": {"right": "videos/04d3845c6c50b42e7bb5/video.mp4"}} +{"benchmark_id": "benchmark:07b23c218c7386f2c006", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["right"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 82, "model_view_key": "right", "task": "Place the pear into the pink bowl.", "views": {"right": "videos/07b23c218c7386f2c006/video.mp4"}} +{"benchmark_id": "benchmark:09419b06be8284f1cc1b", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 115, "model_view_key": "top", "task": "Put the cucumber in the basket.", "views": {"top": "videos/09419b06be8284f1cc1b/video.mp4"}} +{"benchmark_id": "benchmark:0d81c1e48c0a4901dcd3", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 123, "model_view_key": "robot0_agentview_left_image", "task": "turn off the rear right burner of the stove", "views": {"robot0_agentview_left_image": "videos/0d81c1e48c0a4901dcd3/00_robot0_agentview_left_image.mp4"}} +{"benchmark_id": "benchmark:0fc94d768764725d4819", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCOIN", "evaluation_views": ["observation.images.cam_chest_rgb"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 1160, "model_view_key": "observation.images.cam_chest_rgb", "task": "Remove the water bottle from the table and press the button", "views": {"observation.images.cam_chest_rgb": "videos/0fc94d768764725d4819/00_observation.images.cam_chest_rgb.mp4"}} +{"benchmark_id": "benchmark:108b123f2a277494b320", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 551, "model_view_key": "top", "task": "Push the plate, pick up the bread from the toaster, and place it on the plate.", "views": {"top": "videos/108b123f2a277494b320/video.mp4"}} +{"benchmark_id": "benchmark:11665083c9017fbb2aee", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 150, "model_view_key": "observation.images.image", "task": "pick up the ketchup and place it in the basket", "views": {"observation.images.image": "videos/11665083c9017fbb2aee/00_observation.images.image.mp4"}} +{"benchmark_id": "benchmark:137318351ffb08495ecf", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 286, "model_view_key": "top", "task": "Put the garbage in the trash can.", "views": {"top": "videos/137318351ffb08495ecf/video.mp4"}} +{"benchmark_id": "benchmark:14cf6057090c6b5bff57", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 273, "model_view_key": "head", "task": "Single pick left arm part1 omniobject3d razor.", "views": {"head": "videos/14cf6057090c6b5bff57/00_head.mp4"}} +{"benchmark_id": "benchmark:15b93f1737946e96d3d4", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 103, "model_view_key": "observation.images.image", "task": "put the bowl on top of the cabinet", "views": {"observation.images.image": "videos/15b93f1737946e96d3d4/00_observation.images.image.mp4"}} +{"benchmark_id": "benchmark:171d3ef664ad9199fa03", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 536, "model_view_key": "top", "task": "Pushes a cup, picks up another cup, and places it into the first cup.", "views": {"top": "videos/171d3ef664ad9199fa03/video.mp4"}} +{"benchmark_id": "benchmark:199f521b47a3120de2ff", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 347, "model_view_key": "observation.images.image", "task": "put the wine bottle on the rack", "views": {"observation.images.image": "videos/199f521b47a3120de2ff/00_observation.images.image.mp4"}} +{"benchmark_id": "benchmark:1e31a7f39e87e79f63f0", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 215, "model_view_key": "head", "task": "Picks up the Rubik's cube.", "views": {"head": "videos/1e31a7f39e87e79f63f0/00_head.mp4"}} +{"benchmark_id": "benchmark:220a2fc9d623b30c1b14", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 234, "model_view_key": "head", "task": "Picks up the hamburger.", "views": {"head": "videos/220a2fc9d623b30c1b14/00_head.mp4"}} +{"benchmark_id": "benchmark:22fc66d8f53e3705d2ff", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 354, "model_view_key": "robot0_agentview_left_image", "task": "pick the bar from the counter and place it in the cabinet", "views": {"robot0_agentview_left_image": "videos/22fc66d8f53e3705d2ff/00_robot0_agentview_left_image.mp4"}} +{"benchmark_id": "benchmark:2443e16b30c9905235f5", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 360, "model_view_key": "robot0_agentview_left_image", "task": "pick the steak from the counter and place it in the sink", "views": {"robot0_agentview_left_image": "videos/2443e16b30c9905235f5/00_robot0_agentview_left_image.mp4"}} 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"Hands over the pink laundry bag to the left arm.", "end_frame": 3985, "seg_id": 37, "skill": "Handover", "start_frame": 3904}, {"action_text": "Pulls the pink laundry bag zipper.", "end_frame": 4646, "seg_id": 38, "skill": "Pull", "start_frame": 3986}, {"action_text": "Picks up the pink laundry bag lid.", "end_frame": 4690, "seg_id": 39, "skill": "Pick", "start_frame": 4647}, {"action_text": "Places the pink laundry bag lid on the table.", "end_frame": 4744, "seg_id": 40, "skill": "Place", "start_frame": 4691}, {"action_text": "Picks up the pink bra.", "end_frame": 4870, "seg_id": 41, "skill": "Pick", "start_frame": 4745}, {"action_text": "Hands over the pink bra to the right arm.", "end_frame": 5024, "seg_id": 42, "skill": "Handover", "start_frame": 4871}, {"action_text": "Hands over the pink bra to the left arm.", "end_frame": 5085, "seg_id": 43, "skill": "Handover", "start_frame": 5025}, {"action_text": "Places the pink bra in the basin.", "end_frame": 5144, "seg_id": 44, "skill": 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{"action_text": "Places the pink brush in the upper drawer.", "end_frame": 4777, "seg_id": 46, "skill": "Place", "start_frame": 4732}, {"action_text": "Picks up the pen.", "end_frame": 4894, "seg_id": 47, "skill": "Pick", "start_frame": 4778}, {"action_text": "Picks up the pen.", "end_frame": 4976, "seg_id": 48, "skill": "Pick", "start_frame": 4895}, {"action_text": "Places the pen in the upper drawer.", "end_frame": 5034, "seg_id": 49, "skill": "Place", "start_frame": 4977}, {"action_text": "Picks up the eyelash pencil.", "end_frame": 5125, "seg_id": 50, "skill": "Pick", "start_frame": 5035}, {"action_text": "Places the eyelash pencil in the upper drawer.", "end_frame": 5181, "seg_id": 51, "skill": "Place", "start_frame": 5126}, {"action_text": "Pushes the scissors.", "end_frame": 5316, "seg_id": 52, "skill": "Push", "start_frame": 5182}, {"action_text": "Picks up the beauty sponge.", "end_frame": 5394, "seg_id": 53, "skill": "Pick", "start_frame": 5317}, {"action_text": "Places the 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"benchmark:4a18d3e1827429db5abe"} +{"action_config": [{"action_text": "Pushes the photo frame.", "end_frame": 179, "seg_id": 0, "skill": "Push", "start_frame": 0}, {"action_text": "Picks up the screwdriver.", "end_frame": 207, "seg_id": 1, "skill": "Pick", "start_frame": 180}, {"action_text": "Places the screwdriver.", "end_frame": 243, "seg_id": 2, "skill": "Place", "start_frame": 208}, {"action_text": "Pushes the photo frame.", "end_frame": 353, "seg_id": 3, "skill": "Push", "start_frame": 244}, {"action_text": "Turns over the photo frame with both arms.", "end_frame": 613, "seg_id": 4, "skill": "Place", "start_frame": 354}, {"action_text": "Pushes the photo frame.", "end_frame": 686, "seg_id": 5, "skill": "Push", "start_frame": 614}, {"action_text": "Picks up the screwdriver.", "end_frame": 748, "seg_id": 6, "skill": "Pick", "start_frame": 687}, {"action_text": "Hands over the screwdriver to the left arm.", "end_frame": 812, "seg_id": 7, "skill": "Handover", "start_frame": 749}, 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"start_frame": 3655}, {"action_text": "Hands over the second key to the left arm.", "end_frame": 4108, "seg_id": 16, "skill": "Handover", "start_frame": 3798}, {"action_text": "Hands over the second key to the right arm.", "end_frame": 4294, "seg_id": 17, "skill": "Handover", "start_frame": 4109}, {"action_text": "Picks up the yellow lock.", "end_frame": 4506, "seg_id": 18, "skill": "Pick", "start_frame": 4295}, {"action_text": "Picks up the yellow lock.", "end_frame": 4662, "seg_id": 19, "skill": "Pick", "start_frame": 4507}, {"action_text": "Plugs the second key into the yellow lock.", "end_frame": 5008, "seg_id": 20, "skill": "Plug", "start_frame": 4663}, {"action_text": "Rotates the second key with both arms.", "end_frame": 6720, "seg_id": 21, "skill": "Place", "start_frame": 5009}, {"action_text": "Hands over the yellow lock to the right arm.", "end_frame": 6854, "seg_id": 22, "skill": "Handover", "start_frame": 6721}, {"action_text": "Places the yellow lock on the table.", "end_frame": 7233, "seg_id": 23, "skill": "Place", "start_frame": 6855}], "benchmark_id": "benchmark:13b407a045e5145fbdb2"} +{"action_config": [{"action_text": "Picks up the blue button.", "end_frame": 532, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Hands over the blue button to right arm.", "end_frame": 1042, "seg_id": 1, "skill": "Handover", "start_frame": 533}, {"action_text": "Places the blue button in the bin.", "end_frame": 1261, "seg_id": 2, "skill": "Place", "start_frame": 1043}, {"action_text": "Picks up the purple button.", "end_frame": 1817, "seg_id": 3, "skill": "Pick", "start_frame": 1262}, {"action_text": "Hands over the purple button to right arm.", "end_frame": 2300, "seg_id": 4, "skill": "Handover", "start_frame": 1818}, {"action_text": "Places the purple button in the bin.", "end_frame": 3325, "seg_id": 5, "skill": "Place", "start_frame": 2301}], "benchmark_id": "benchmark:1997a98800091a5d626f"} +{"action_config": [{"action_text": "Picks up the green bottle.", "end_frame": 26, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the green bottle into the dustbin.", "end_frame": 50, "seg_id": 1, "skill": "Place", "start_frame": 27}, {"action_text": "Picks up the yellow bottle.", "end_frame": 89, "seg_id": 2, "skill": "Pick", "start_frame": 51}, {"action_text": "Places the yellow bottle into the dustbin.", "end_frame": 113, "seg_id": 3, "skill": "Place", "start_frame": 90}, {"action_text": "Picks up the white bottle.", "end_frame": 162, "seg_id": 4, "skill": "Pick", "start_frame": 114}, {"action_text": "Places the white bottle into the dustbin.", "end_frame": 194, "seg_id": 5, "skill": "Place", "start_frame": 163}, {"action_text": "Picks up the white and pink bottle.", "end_frame": 311, "seg_id": 6, "skill": "Pick", "start_frame": 195}, {"action_text": "Places the white and pink bottle into the dustbin.", "end_frame": 362, "seg_id": 7, "skill": "Place", "start_frame": 312}], "benchmark_id": "benchmark:1c335b2c06a5a016720a"} +{"action_config": [{"action_text": "Picks up the red-labeled soda bottle.", "end_frame": 89, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the red-labeled soda bottle into the dustbin.", "end_frame": 164, "seg_id": 1, "skill": "Place", "start_frame": 90}, {"action_text": "Picks up the yellow cylindrical bottle.", "end_frame": 224, "seg_id": 2, "skill": "Pick", "start_frame": 165}, {"action_text": "Hands over the yellow cylindrical bottle.", "end_frame": 359, "seg_id": 3, "skill": "Handover", "start_frame": 225}, {"action_text": "Places the yellow cylindrical bottle into the dustbin.", "end_frame": 409, "seg_id": 4, "skill": "Place", "start_frame": 360}, {"action_text": "Picks up the water bottle with the textured body.", "end_frame": 486, "seg_id": 5, "skill": "Pick", "start_frame": 410}, {"action_text": "Hands over the water bottle with the textured body.", "end_frame": 614, "seg_id": 6, "skill": "Handover", "start_frame": 487}, {"action_text": "Places the water bottle with the textured body into the dustbin.", "end_frame": 665, "seg_id": 7, "skill": "Place", "start_frame": 615}], "benchmark_id": "benchmark:1c8fabaf1fb371b1e715"} +{"action_config": [{"action_text": "Picks up the eggplant.", "end_frame": 56, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the eggplant on the plate with the right arm and opens the oven with the left arm.", "end_frame": 95, "seg_id": 1, "skill": "Place", "start_frame": 57}, {"action_text": "Picks up the plate.", "end_frame": 143, "seg_id": 2, "skill": "Pick", "start_frame": 96}, {"action_text": "Places the plate into the oven.", "end_frame": 182, "seg_id": 3, "skill": "Place", "start_frame": 144}, {"action_text": "Closes the oven door.", "end_frame": 276, "seg_id": 4, "skill": "Close", "start_frame": 183}], "benchmark_id": "benchmark:1dcd55850b910f420700"} +{"action_config": [{"action_text": "Opens the tap.", "end_frame": 142, "seg_id": 0, "skill": "Open", "start_frame": 0}, {"action_text": "Picks up the sponge.", "end_frame": 252, "seg_id": 1, "skill": "Pick", "start_frame": 143}, {"action_text": "Picks up the cutting board.", "end_frame": 666, "seg_id": 2, "skill": "Pick", "start_frame": 253}, {"action_text": "Wipes the cutting board with the sponge.", "end_frame": 958, "seg_id": 3, "skill": "Wipe", "start_frame": 667}, {"action_text": "Places the cutting board down.", "end_frame": 1038, "seg_id": 4, "skill": "Place", "start_frame": 959}, {"action_text": "Places the sponge on the counter.", "end_frame": 1154, "seg_id": 5, "skill": "Place", "start_frame": 1039}, {"action_text": "Closes the tap.", "end_frame": 1429, "seg_id": 6, "skill": "Close", "start_frame": 1155}], "benchmark_id": "benchmark:1f6ec942dcf2a6743971"} +{"action_config": [{"action_text": "Picks up the deep blue part.", "end_frame": 676, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Picks up the light blue part.", "end_frame": 1136, "seg_id": 1, "skill": "Pick", "start_frame": 677}, {"action_text": "Moves to the table.", "end_frame": 2304, "seg_id": 2, "skill": "Move", "start_frame": 1137}, {"action_text": "Places the deep blue part on the tray.", "end_frame": 2774, "seg_id": 3, "skill": "Place", "start_frame": 2305}, {"action_text": "Places the light blue part on the tray.", "end_frame": 3792, "seg_id": 4, "skill": "Place", "start_frame": 2775}], "benchmark_id": "benchmark:20f1e9ec3de604f0e732"} +{"action_config": [{"action_text": "Picks up the tomato.", "end_frame": 160, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the tomato in the basket.", "end_frame": 291, "seg_id": 1, "skill": "Place", "start_frame": 161}], "benchmark_id": "benchmark:21148cbc3fdcf1fe2af3"} +{"action_config": [{"action_text": "Picks up the first orange battery.", "end_frame": 64, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the first orange battery on the green conveyor belt.", "end_frame": 112, "seg_id": 1, "skill": "Place", "start_frame": 65}, {"action_text": "Picks up the first yellow button.", "end_frame": 195, "seg_id": 2, "skill": "Pick", "start_frame": 113}, {"action_text": "Places the first yellow button into the green conveyor belt .", "end_frame": 272, "seg_id": 3, "skill": "Place", "start_frame": 196}, {"action_text": "Picks up the first green button.", "end_frame": 333, "seg_id": 4, "skill": "Pick", "start_frame": 273}, {"action_text": "Places the first green button into the green conveyor belt.", "end_frame": 385, "seg_id": 5, "skill": "Place", "start_frame": 334}, {"action_text": "Picks up the second orange battery.", "end_frame": 453, "seg_id": 6, "skill": "Pick", "start_frame": 386}, {"action_text": "Picks up the first yellow button.", "end_frame": 485, "seg_id": 7, "skill": "Pick", "start_frame": 454}, {"action_text": "Places the second orange battery on the green conveyor belt.", "end_frame": 508, "seg_id": 8, "skill": "Place", "start_frame": 486}, {"action_text": "Places the first yellow button in the yellow tray.", "end_frame": 529, "seg_id": 9, "skill": "Place", "start_frame": 509}, {"action_text": "Picks up the first green button.", "end_frame": 558, "seg_id": 10, "skill": "Pick", "start_frame": 530}, {"action_text": "Places the first green button on the green tray with the right arm and picks up the second yellow button with the left arm.", "end_frame": 593, "seg_id": 11, "skill": "Place", "start_frame": 559}, {"action_text": "Places the second yellow button into the green conveyor belt.", "end_frame": 630, "seg_id": 12, "skill": "Place", "start_frame": 594}, {"action_text": "Picks up the second green button.", "end_frame": 695, "seg_id": 13, "skill": "Pick", "start_frame": 631}, {"action_text": "Places the second green button on the green conveyor belt.", "end_frame": 732, "seg_id": 14, "skill": "Place", "start_frame": 696}, {"action_text": "Picks up the second yellow button.", "end_frame": 804, "seg_id": 15, "skill": "Pick", "start_frame": 733}, {"action_text": "Places the second yellow button into the yellow tray.", "end_frame": 837, "seg_id": 16, "skill": "Place", "start_frame": 805}, {"action_text": "Picks up the second green button.", "end_frame": 885, "seg_id": 17, "skill": "Pick", "start_frame": 838}, {"action_text": "Places the second green button into the green tray.", "end_frame": 953, "seg_id": 18, "skill": "Place", "start_frame": 886}], "benchmark_id": "benchmark:21313361b78a514214d1"} +{"action_config": [{"action_text": "Picks up the tape measure.", "end_frame": 150, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the tape measure into the basket.", "end_frame": 319, "seg_id": 1, "skill": "Place", "start_frame": 151}], "benchmark_id": "benchmark:25b6f8b7a556d6c2c881"} +{"action_config": [{"action_text": "Picks up the capacitor.", "end_frame": 268, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Moves to the table.", "end_frame": 770, "seg_id": 1, "skill": "Move", "start_frame": 269}, {"action_text": "Places the capacitor on the tray.", "end_frame": 1118, "seg_id": 2, "skill": "Place", "start_frame": 771}], "benchmark_id": "benchmark:25c01f2dd4beb723b36f"} +{"action_config": [{"action_text": "Moves to the shelf.", "end_frame": 240, "seg_id": 0, "skill": "Move", "start_frame": 0}, {"action_text": "Picks up the shopping basket.", "end_frame": 499, "seg_id": 1, "skill": "Pick", "start_frame": 241}, {"action_text": "Picks up the first lemon.", "end_frame": 735, "seg_id": 2, "skill": "Pick", "start_frame": 500}, {"action_text": "Places the first lemon into the shopping basket.", "end_frame": 857, "seg_id": 3, "skill": "Place", "start_frame": 736}, {"action_text": "Picks up the second lemon.", "end_frame": 1071, "seg_id": 4, "skill": "Pick", "start_frame": 858}, {"action_text": "Places the second lemon into the shopping basket.", "end_frame": 1193, "seg_id": 5, "skill": "Place", "start_frame": 1072}, {"action_text": "Places the shopping basket on the table.", "end_frame": 1889, "seg_id": 6, "skill": "Place", "start_frame": 1194}], "benchmark_id": "benchmark:2798e7e12aec8c64073c"} +{"action_config": [{"action_text": "Moves to the white plate.", "end_frame": 55, "seg_id": 0, "skill": "Move", "start_frame": 0}, {"action_text": "Picks up the white plate.", "end_frame": 206, "seg_id": 1, "skill": "Pick", "start_frame": 56}, {"action_text": "Moves to the first basket.", "end_frame": 286, "seg_id": 2, "skill": "Move", "start_frame": 207}, {"action_text": "Places the white plate in the first basket.", "end_frame": 399, "seg_id": 3, "skill": "Place", "start_frame": 287}, {"action_text": "Moves to the white bowl.", "end_frame": 508, "seg_id": 4, "skill": "Move", "start_frame": 400}, {"action_text": "Picks up the white bowl.", "end_frame": 635, "seg_id": 5, "skill": "Pick", "start_frame": 509}, {"action_text": "Places the white bowl in the white plate.", "end_frame": 799, "seg_id": 6, "skill": "Place", "start_frame": 636}, {"action_text": "Moves to the blue bowl.", "end_frame": 933, "seg_id": 7, "skill": "Move", "start_frame": 800}, {"action_text": "Picks up the blue bowl.", "end_frame": 1072, "seg_id": 8, "skill": "Pick", "start_frame": 934}, {"action_text": "Moves to the white bowl.", "end_frame": 1179, "seg_id": 9, "skill": "Move", "start_frame": 1073}, {"action_text": "Places the blue bowl in the white bowl.", "end_frame": 1269, "seg_id": 10, "skill": "Place", "start_frame": 1180}, {"action_text": "Moves to the black goblet.", "end_frame": 1397, "seg_id": 11, "skill": "Move", "start_frame": 1270}, {"action_text": "Picks up the black goblet.", "end_frame": 1533, "seg_id": 12, "skill": "Pick", "start_frame": 1398}, {"action_text": "Moves to the blue bowl.", "end_frame": 1613, "seg_id": 13, "skill": "Move", "start_frame": 1534}, {"action_text": "Places the black goblet in the blue bowl.", "end_frame": 1710, "seg_id": 14, "skill": "Place", "start_frame": 1614}, {"action_text": "Picks up the 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"seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Hands over the first stapler to the right arm.", "end_frame": 177, "seg_id": 1, "skill": "Handover", "start_frame": 81}, {"action_text": "Opens the first stapler with both arms.", "end_frame": 233, "seg_id": 2, "skill": "Open", "start_frame": 178}, {"action_text": "Hands over the first stapler to the right arm.", "end_frame": 284, "seg_id": 3, "skill": "Handover", "start_frame": 234}, {"action_text": "Places the first stapler on the table.", "end_frame": 335, "seg_id": 4, "skill": "Place", "start_frame": 285}, {"action_text": "Picks up the second stapler.", "end_frame": 407, "seg_id": 5, "skill": "Pick", "start_frame": 336}, {"action_text": "Hands over the second stapler to the right arm.", "end_frame": 459, "seg_id": 6, "skill": "Handover", "start_frame": 408}, {"action_text": "Hands over the second stapler to the left arm.", "end_frame": 525, "seg_id": 7, "skill": "Handover", "start_frame": 460}, {"action_text": "Opens the second stapler with both arms.", "end_frame": 587, "seg_id": 8, "skill": "Open", "start_frame": 526}, {"action_text": "Hands over the second stapler to the right arm.", "end_frame": 634, "seg_id": 9, "skill": "Handover", "start_frame": 588}, {"action_text": "Places the second stapler on the table.", "end_frame": 686, "seg_id": 10, "skill": "Place", "start_frame": 635}, {"action_text": "Picks up the staple box.", "end_frame": 800, "seg_id": 11, "skill": "Pick", "start_frame": 687}, {"action_text": "Places the staple box on the table.", "end_frame": 863, "seg_id": 12, "skill": "Place", "start_frame": 801}, {"action_text": "Picks up the staple box.", "end_frame": 985, "seg_id": 13, "skill": "Pick", "start_frame": 864}, {"action_text": "Pushes the staple box outward with the right arm.", "end_frame": 1185, "seg_id": 14, "skill": "Push", "start_frame": 986}, {"action_text": "Hands over the staple box to the right arm.", "end_frame": 1237, "seg_id": 15, "skill": "Handover", 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"seg_id": 23, "skill": "Press", "start_frame": 2466}, {"action_text": "Picks up the second staple.", "end_frame": 2644, "seg_id": 24, "skill": "Pick", "start_frame": 2524}, {"action_text": "Picks up the second staple.", "end_frame": 2799, "seg_id": 25, "skill": "Pick", "start_frame": 2645}, {"action_text": "Picks up the second staple.", "end_frame": 3033, "seg_id": 26, "skill": "Pick", "start_frame": 2800}, {"action_text": "Places the second staple on the table.", "end_frame": 3078, "seg_id": 27, "skill": "Place", "start_frame": 3034}, {"action_text": "Picks up the second staple.", "end_frame": 3133, "seg_id": 28, "skill": "Pick", "start_frame": 3079}, {"action_text": "Places the second staple in the second stapler.", "end_frame": 3276, "seg_id": 29, "skill": "Place", "start_frame": 3134}, {"action_text": "Picks up the second stapler.", "end_frame": 3371, "seg_id": 30, "skill": "Pick", "start_frame": 3277}, {"action_text": "Places the second stapler on the table.", "end_frame": 3398, 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